This repository contains ROS packages related to manipulation motion planning. See also talks from ROScon 2015 (pdf, video) and the 1st online MoveIt! user meeting. Some pointers to important packages follow:
- vigir_lidar_octomap_updater is a sensor updater plugin that updates the planning scene octomap from LIDAR data while simultaneously providing a low bandwidth representation of scan data.
- vigir_move_group contains move_group plugins used for manipulation with humanoid robots.
- vigir_ocs_robot_model provides a "ghost robot" model that can be used in a UI for kinematic pre-planning of actions.