Koco

Core ROS packages of the Flexible Control Framework for Industrial Robotic Applications, where Koco stands for "Koco offers compatibility".

Packages

• koco: The meta package.
• koco_core_flexbe_states: High-level FlexBE states for composing complex behaviors, including:
  • States to program robot motions
  • States to interact with permanent storage
• koco_nodes: Nodes that offer additional functionality of the Koco system:
  • Interface to link the permanent storage (database) to TF
• koco_services: Nodes that offer services to interact with the Koco system:
  • Service for requesting and storing complex trajectory plans through MoveIt
• koco_utils: A set of useful Python libraries that provide handy methods and classes for programming robotic tasks:
  • Action interface template
  • Pose and message conversions
  • Geometric distances and averages
  • TF and Database proxies
  • ROS path resolution