MTC功能包
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Robert Haschke d10565cabf fix memory access issue
Fixes #132.
2020-02-18 09:01:00 +01:00
capabilities avoid deprecation warnings of MoveIt master branch 2019-12-13 11:29:02 +01:00
core fix memory access issue 2020-02-18 09:01:00 +01:00
demo demo: add example cartesian.py 2020-02-13 14:18:09 +01:00
msgs Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
rviz_marker_tools Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
visualization TaskPanel: execute selected solution 2020-01-11 09:15:11 +01:00
.clang-format Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
.gitignore local names for python wrapper libs 2018-06-03 13:03:41 +02:00
.rosinstall Demo package for tutorial (#104) 2019-10-08 17:30:45 +02:00
.travis.yml Travis: re-enable master build, enable code-coverage (#109) 2019-12-03 14:22:01 +01:00
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README.md README: clarify that the MTC is usable (#88) 2019-05-02 14:55:34 +02:00

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.