MTC功能包
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v4hn f12cc0c127 Revert "workaround for MoveIt PlanningScene bug"
Fixed via https://github.com/ros-planning/moveit/pull/1899.
Please use *latest* master (if you do not use melodic builds).

This reverts commit c44d0cac19.
2020-03-09 10:09:01 +01:00
capabilities Revert "workaround for MoveIt PlanningScene bug" 2020-03-09 10:09:01 +01:00
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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.