Can I use trajopt in my project without tesseract-ros?

tesseract-robotics / trajopt

Trajectory Optimization Motion Planner for ROS

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Can I use trajopt in my project without tesseract-ros? #422

Closed sm3304love closed 2 weeks ago

sm3304love commented 3 weeks ago

I'm trying to use the trajopt algorithm as a motion planning algorithm for the manipulator. I currently have tesseract pkg and trajopt pkg in my workspace, and they were built using catkin build. However, the example currently provided in the repository is in tesseract_ros_examples, which heavily depends on tesseract_ros pkg. Is there any example that does motion planning using only tesseract pkg and trajopt pkg without using tesseract_ros?

ROS version: noetic
Ubuntu version: 20.04

Levi-Armstrong commented 3 weeks ago

Absolutely, all of the same examples are in tesseract_planning/tesseract_examples. This was a major design decision to keep all of the core code ros agnostic to allow user to implement with there own middle-ware and not be forced to use ROS.