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StvLi/dsh-ros2--packages-moveit ↗★ 22

dsh-ros2-moveit

提供MoveIt2运动规划与验证工具 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。

其他扩展
包名
dsh-ros2-moveit
兼容性
待验证
Harness 依赖范围
0.1.0-rc.6
Cordis 依赖范围
^4.0.1
版本
0.1.0
许可证
MIT
最近更新
2026年10月1日

安装

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

说明文档

阅读完整 README ↗

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.