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Chris

The MoveIt! Planning Plugin for RapidPlan

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The plugin consists of the three classes RTRPlannerManager, RTRPlanningContext and RTRPlannerInterface. While the first two implement the plugin structure of Moveit!, the RTRPlannerInterface provides an interface for sending motion planning requests to RapidPlan.

 

More info and tutorials are available on the project's github page.

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