core_motion_planning

Core motion planning library for ROS 2 robot arms.

Source on GitHub

User Guide

• Getting Started
  • Prerequisites
  • Building
  • Launching the Node
  • Quick Smoke Test
  • Testing
• Robot Setup
  • URDF Requirements
  • arm_planning_config.json Reference
  • motion_planning_config.json Reference
  • OPW Kinematics Parameters Reference
  • Inverse Dynamics Config Reference
• Usage Examples
  • Setup
  • Forward Kinematics
  • Inverse Kinematics
  • Motion Planning
  • Cartesian Interpolation
  • Collision Checking
  • Standalone Parameterization
• Service Reference
  • ComputeFK
  • ComputeFKBatch
  • ComputeIK
  • ComputeIKBatch
  • ComputeMotionPlan
  • ComputeParameterize
  • CheckRobotCollision
  • CheckPathCollision
  • GetManipulability
  • UpdateObjects
  • Error Codes

Reference

• Architecture
  • Package Structure
  • Server Pool
  • Planning Pipeline
• API Reference
  • motion_planning_types
  • core_robot
  • core_arm_planning
  • core_motion_planning
  • motion_planning

Full Doxygen API reference (with class diagrams)