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Flexible Manipulation is a collection of ROS MoveIt! capabilities that interface with generic FlexBE compatible state implementations.
These allow a user to graphically chain together states in a state machine to handle basic manipulation tasks.
This allows for supervisory and sliding autonomy within the MoveIt! manipulation framework, and better control over contingency responses and recovery behaviors.
The system is generic in the sense that it only depends on generic ROS packages, such as MoveIt! and FlexBE, and generic ROS topics, and is not specific to any particular robot setup.
A complete demonstration system is provided as part of the CHRISLab Kinova Flexible Manipulation demonstration.
Follow setup and operation directions there for an integrated demonstration.
The Flexible Manipulation system has been tested using the latest version of ROS Kinetic. You should first follow the ROS Install Guide and get that set up before proceeding.
To use this system with your robot, follow the standard setup instructions for MoveIt! and FlexBE, and then add this repo to your Catkin workspace.
Copyright (c) 2018 Capable Humanitarian Robotics and Intelligent Systems Lab (CHRISLab) Christopher Newport University
Portions of this code is based on code from Copyright (c) 2015 Team ViGIR (https://github.com/team-vigir/) Copyright (c) 2015 Spyros Maniatopoulos and Philipp Schillinger (https://github.com/FlexBE/generic_flexbe_states)
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