So far, returning false from the processor function, just skipped further traversing the current child (depth-wise). Now, traversal is completely aborted, even not traversing the remaining siblings of the current child. Having a single boolean return value, we cannot distinguish both cases. We need the new behaviour for 8061945c15bea22e8f8899c987bc28e3542885aa. |
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| capabilities | ||
| core | ||
| demo | ||
| msgs | ||
| rviz_marker_tools | ||
| visualization | ||
| .clang-format | ||
| .gitignore | ||
| .rosinstall | ||
| .travis.yml | ||
| LICENSE.txt | ||
| README.md | ||
MoveIt Task Constructor Framework
The Task Constructor framework provides a flexible and transparent way to define and plan actions that consist of multiple interdependent subtasks. It draws on the planning capabilities of MoveIt to solve individual subproblems in black-box planning stages. A common interface, based on MoveIt's PlanningScene is used to pass solution hypotheses between stages. The framework enables the hierarchical organization of basic stages using containers, allowing for sequential as well as parallel compositions. For more details, please refer to the associated ICRA 2019 publication.
Roadmap
Feedback and contributions are very welcome.
The current roadmap is to replace MoveIt's old pick&place pipeline and provide a transparent mechanism to enable and debug complex motion sequences.