From be3bb7ac04a067ac5c0dc05786ac332fcc03158f Mon Sep 17 00:00:00 2001 From: gavanderhoorn Date: Tue, 6 Mar 2018 00:00:13 +0100 Subject: [PATCH] Readme: update. --- README.md | 19 ++++++++++++++++++- 1 file changed, 18 insertions(+), 1 deletion(-) diff --git a/README.md b/README.md index 26b6511..40b4f03 100644 --- a/README.md +++ b/README.md @@ -1,2 +1,19 @@ # moveit_mpp -Multi-planner plugin hoster plugin for MoveIt + +## Overview + +A proof-of-concept *multi planner plugin planner plugin* for MoveIt. + +## State + +This is demo code at best. Use at your own risk. It will crash, it may do strange things. + +It was just an experiment to see whether this approach could/would be a viable way of getting MoveIt to work with multiple planning plugins without extensive changes to the rest of its infrastructure. + +## Known issues + +While this can successfully load multiple MoveIt planning plugins, the rest of MoveIt does not know about this (or care). One example are the planning adapters: those are active for all planners (as those are configured per `move_group`) while that may not be needed or desirable. + +## Roadmap + +No further development of this code is currently planned. It is also not used in any systems that the author maintains.