MTC功能包
Go to file
2020-03-19 08:46:39 +01:00
capabilities Revert "workaround for MoveIt PlanningScene bug" 2020-03-09 10:09:01 +01:00
core avoid copy from const id reference 2020-03-05 12:08:59 +01:00
demo planning_attempts -> max_solutions (#143) 2020-03-10 15:00:22 +01:00
msgs transmit and display computation in rviz 2020-02-06 16:18:20 +01:00
rviz_marker_tools Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
visualization Add an icon for the RViz interface (#144) 2020-03-19 08:46:39 +01:00
.clang-format Introduce clang-format (#102) 2019-07-18 11:04:35 +02:00
.gitignore add gitignore for vim swp 2017-02-28 11:12:18 +01:00
.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
LICENSE.txt add full license information 2017-12-12 21:24:32 +01:00
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.