This is a ROS catkin package for executing and evaluating our Icremental Trajectory Optimization-based Motion Planning (ITOMP) integrated with Natural Language Processing (NLP).
What this package does:
- It defines config files for obstacles, camera, robot position, parameters, etc.
- ROS nodes set up environment, send NL commands, receive motion planning results, and execute the planned trajectory.
- ROS launch files help loading config files and running nodes.
ROS catkin
- config/benchmark_laptop.yaml
- launch/benchmark_laptop.launch
- src/benchmark_laptop.cpp, include/benchmark_laptop.h