Making MoveIt Easy! 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.

robowflex_dart

A optionally compiled library that adds support for modeling and planning through DART (Dynamic Animation and Robotics Toolkit). There are features for loading robots just through DART or by converting MoveIt robots into the DART representation. Motion planning is supported through OMPL. This module offers easy multi-robot motion planning through composing complex worlds with multiple robots. Additionally, this module has manifold-constrained motion planning with a Task Space Region constraint specification.

robowflex_visualization

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