Flexible Manipulation

===================

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.

Install

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.

License

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)

All rights reserved.

Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are met:

  1. Redistributions of source code must retain the above copyright notice,
     this list of conditions and the following disclaimer.

  2. Redistributions in binary form must reproduce the above copyright
     notice, this list of conditions and the following disclaimer in the
     documentation and/or other materials provided with the distribution.

  3. Neither the name of the copyright holder nor the names of its
     contributors may be used to endorse or promote products derived from
     this software without specific prior written permission.

     THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
     "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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