Robowflex
Robowflex

    

The Better Robot Benching Framework™ . An overview of what this project is can be found in the design description. Examples of basic motion planning, benchmarking of planning requests, input/output, and more can be found in scripts.

robowflex_library

A library that simplifies using MoveIt! in applications. This is the core library used by all other components in Robowflex. Take a look at the design description for more information on the core library.

Optional Components

There are also a few optional modules that are compiled if the requisite libraries are available. These will only compile if the necessary components are found.

robowflex_ompl

An optionally compiled library component that adds more direct access to OMPL through a new robowflex::Planner. Requires moveit_planners_ompl, from MoveIt!.

robowflex_tesseract

An optionally compiled library component that adds support for tesseract-based planners. Currently, only OMPL-based planning is available. Requires both tesseract and trajopt.

robowflex_movegroup

A library component with helper classes and functions to interact with a move_group process being used for motion planning. Scenes can be pushed and pulled and trajectories can be executed with this component through move_group.

Utilities

Beyond the core library, there are utility packages.

robowflex_visualization

Python scripts for visualizing robots and motion plans in Blender. See the readme for more information on how to use.

robowflex_doc

Documentation for all library and module components in robowflex (sans tmpack). Documentation is automatically generated using Doxygen, and is placed in ${CATKIN_DEVEL_PREFIX}/share/robowflex_doc/doc/index.html. The documentation can be read online at GitHub pages.

To learn more about how to document code for Robowflex, take a look at the documentation how-to.

Applications

tmpack

Task and motion planning using robowflex as the motion planning layer.