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Motion planning

MTC stages, planner selection, trajectory execution, and plan caching. The CMS Servo node provides a separate continuous-command path.

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• MoveToStages.add_to_task — See how each MoveTo target becomes stages in an existing MTC task, including frame selection and planner fallbacks.

• BaseStages.init_and_plan — Follow task initialization and planning before a solution is submitted for execution.

• BaseStages.execute_solution — Trace how a planned solution is executed and how completion or failure is reported.

• PlanCache.compute_key — Check how resolved task inputs, gripper/cup model identity, and starting joints identify a reusable trajectory.

Modules

Module	Responsibility	Entries
MoveTo action server	Expose named, relative and Cartesian motion through MoveToAction.	3
MoveTo planning stages	Compose and execute named, relative and Cartesian MoveTo goals, using shared validation, target-specific fallback planners and TF-based tool-tip selection.	6
Shared motion stages	Provide shared MTC model loading, planners, pose conversion, constraints, previews, and execution. Import reads installed planning configuration; the first stage instance initializes the shared C++ MTC node.	30
Trajectory plan cache	Keep up to a configured number of serialized MTC solutions in an in-memory LRU cache. Keys combine normalized request JSON, model revision, and rounded six-joint start state; stored trajectories are not revalidated.	5
CMS Servo controller	Run the CMS MoveIt Servo node. It accepts joint-jog, twist, or pose commands and publishes controller commands and status.	13