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flexbe_moveit2_flexbe_states

This package provides FlexBE EventState implementations that wrap the MoveIt 2 actions and services. States cover motion planning (joint-space, Cartesian, and sequence planning), trajectory execution, collision object management, planning scene control, robot state warehouse storage, IK/FK queries, octomap control, and visualization marker management.

A proxy/ subdirectory provides shared helpers used across states:

  • proxy_robot.py — singleton that loads and caches the robot model from the parameter server
  • robot_model.py — URDF/SRDF parsing, joint/link utilities, and limit checking
  • proxy_pose_writer.py — JSON/CSV serialization for logged pose data

Using States in a Behavior

Import states by their module path, e.g.:

from flexbe_moveit2_flexbe_states.move_group_joint_plan_state import MoveGroupJointPlanState
from flexbe_moveit2_flexbe_states.execute_trajectory_state import ExecuteTrajectoryState

States follow the standard FlexBE EventState interface: constructor parameters set fixed configuration, input_keys/output_keys carry runtime data through userdata.

Testing

Import-only tests for all states run automatically via colcon test. To run them directly with the FlexBE test framework:

ros2 launch flexbe_moveit2_flexbe_states run_tests.launch.py