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dsh-ros2-moveit

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dsh-ros2-moveit · v0.1.0 · MIT

dsh-ros2 MoveIt2 motion: discovery, status, deterministic validation and the unified five-mode moveit_move (4 tools). Cordis bundle.

安装

dsh plugin add dsh-ros2-moveit

用 dsh --profile default --dump-config 确认 layer 已生效 —— 参见安装指南。

源码

发布到 npm 但没有公开仓库。安装前请检查包内容。

标签

说明文档

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.