dsh-ros2-moveit

dsh-ros2 MoveIt2 motion: discovery, status, deterministic validation and the unified five-mode moveit_move (4 tools). Cordis bundle. 适合需要对MoveIt2机械臂运动进行安全校验与执行的控制任务。

パッケージ

dsh-ros2-moveit

互換性

未検証

Harness ピア範囲

0.1.0-rc.6

Cordis ピア範囲

^4.0.1

バージョン

0.1.0

ライセンス

MIT

最終更新

2026/10/01

dsh-ros2-moveit

MoveIt2 generic motion — 4 tools. Standard moveit_msgs + SRDF only, never a specific package.

moveit_discover / moveit_status — planning groups, named poses, online probes
motion_validate — deterministic pre-execution validation (limits / NaN / freshness / fingerprint / TTL)
moveit_move — the single motion path: plan → validate → approve (validation shown) → execute → verify; gates on /safety/state (LOCKED always rejected; safetyStrict comes from dsh-ros2-safety via the shared ToolDeps seam)

Config: run seam only.

Dependencies: dsh-ros2-common (run + robot_profile.py limits + safety gate). Ships scripts/moveit_*.py, motion_validator.py.

dsh-ros2-moveit

インストール

ドキュメント

dsh-ros2-moveit