Improved Realtime Control with MoveIt Servo [MoveIt 2]
- Mentors
- Sebastian Castro, AndyZe
- Organization
- MoveIt
- Technologies
- c++
- Topics
- robotics, motion planning
The current MoveIt Servo has enabled users to utilize reactive control. However, in its current implementation MoveIt Servo only provides a ROS interface to users. While the ROS interface is very versatile, it can also be a bottleneck for users who need harder real-time performance guarantees. There are also many aspects of the software design of the package itself that can be improved.
This project proposes to re-implement MoveIt Servo with the following:
- Improved readability
- Extensibility
- Performance
- Support for end-effector pose as input.
- Improved C++ Interface support