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StvLi/dsh-ros2--packages-moveit ↗★ 22

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。

기타 확장
패키지
dsh-ros2-moveit
호환성
미검증
Harness peer 범위
0.1.0-rc.6
Cordis peer 범위
^4.0.1
버전
0.1.0
라이선스
MIT
최근 업데이트
2026. 10. 1.

설치

$npx -p @deepseek-ai/dsh dsh plugin --profile web add github:StvLi/dsh-ros2#1c9ea44df6ee8602a3f075d81ab28e66a1740991&path:packages/moveit

문서

전체 README 읽기 ↗

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.