MoveIt is the primary software library for motion planning and mobile manipulation in ROS, and it incorporates the latest advances in motion planning, control and perception. However, it is still quite recent, and some important functions to build more advanced manipulation applications, required to robotize many manufacturing processes, have not been developed yet. MoveIt is an open source software, and it relies on the contributions from its community to keep improving and adding new features. Therefore, in this paper, its current state is analyzed to find out which are its main necessities and provide a solution to them. In particular, three gaps of MoveIt are addressed: the automatic tool changing at runtime, the generation of trajectories with full control over the end effector path and speed, and the generation of dual-arm trajectories using different synchronization policies. These functions have been tested with a Motoman SDA10F dual-arm robot, demonstrating their validity in different scenarios. All the developed solutions are generic and robot-agnostic, and they are openly available to be used to extend the capabilities of MoveIt.

MoveIt 是 ROS 中用于运动规划和移动操作的主要软件库，它融合了运动规划、控制和感知方面的最新进展。然而，它仍然是最近才开发出来的，一些构建更高级操作应用程序的重要功能尚未开发出来，这些应用程序需要将许多制造过程自动化。MoveIt 是一个开源软件，它依靠社区的贡献来不断改进和添加新功能。因此，在本文中，对其现状进行了分析，以找出其主要需求并提供解决方案。特别是解决了 MoveIt 的三个不足：运行时自动换刀、完全控制末端执行器路径和速度的轨迹生成、以及使用不同的同步策略生成双臂轨迹。这些功能已经通过 Motoman SDA10F 双臂机器人进行了测试，证明了它们在不同场景中的有效性。所有开发的解决方案都是通用的且与机器人无关，并且它们可公开用于扩展 MoveIt 的功能。