Standardized robot model for input, automatically generated robot-specificĬonfiguration files, and a plugin-based architecture for extensibility. Is the cornerstone of our approach, coupled with the use of an existing A graphical interface that assists the user in configuring MoveIt! Quickly get basic motion planning functionality with minimal initial setup, 2)Īutomate its configuration and optimization, and 3) easily customize itsĬomponents. Open-source tool for mobile manipulation in ROS, that allows users to 1) In this paper a case study is presented for the best practicesįound for lowering the barrier of entry in the MoveIt! framework, an Robotic software engineering to aid users in getting started with, andĬustomizing, the software framework as necessary for particular roboticĪpplications. If theĮntry barriers for configuring and using the software on robots is too high,Įven the most powerful of frameworks are useless. The setup difficulty and learning curve for new users also increase. As the capabilities of robotic software frameworks increase, Simultaneously accounting for a large variability in hardware designs andĬontrol paradigms. Authors: David Coleman, Ioan Sucan, Sachin Chitta, Nikolaus Correll Download PDF Abstract: Developing robot agnostic software frameworks involves synthesizing theĭisparate fields of robotic theory and software engineering while
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