search

ros-industrial-consortium / descartes

ROS-Industrial Special Project: Cartesian Path Planner
Apache License 2.0
131 stars 91 forks source link

Adding collision checking capabilities to Descartes and preparing for changes to the IKFast templates #230

Closed mlautman closed 5 years ago

mlautman commented 6 years ago

Adds collision checking capabilities to Descartes using the MoveIt! planning scene monitor. This is fundamentally different from the kinetic-godel version which is unable to take in a planning scene monitor which uses the planning scene spun up by the demo.launch script in moveit_config packages.

These changes are used by the Descartes MoveIt! capability that will soon be open sourced. It is unclear if these changes should live in a separate branch, fork, or if they should be merged into master. This PR is meant as a conversation starter.

This PR is a result of a collaboration between Carbon Robotics and PickNik Robotics

mlautman commented 6 years ago

@jrgnicho @Jmeyer1292