How intrinsic-ai/intrinsic-moveit works
This repository provides ROS 2 motion and grasp planning for MoveIt, with Intrinsic Core skills as client entry points. Users submit motion requests or grasp candidates; the service plans against its MoveIt scene and returns trajectories or ranked grasps. Its documented supporting capabilities include World-to-scene synchronization, TF streaming, health monitoring, and UR5e/Hand-E/camera configuration. Internal edges are limited to relationships shown in sampled source references or excerpts; other documented capabilities are retained without speculative wiring.
Main entry points: moveit_planning_node.cpp Planning node · grasp_planning_pipeline.cpp Grasp planning · moveit_scene_synchronizer.cpp Scene synchronizer · status_monitor.cpp Health monitor
Components 16
Planning clients
- Motion skill
moveit_plan_motion_skill/src/moveit_plan_motion_skill/moveit_plan_motion_skill.cpp - Grasp skill
moveit_plan_grasp_skill/src/moveit_plan_grasp_skill/moveit_plan_grasp_skill.cpp
Planning service
- ROS interfaces
moveit_planning_interfaces - Planning node
moveit_planning_service/src/moveit_planning_node.cpp - Grasp planning
moveit_planning_service/src/grasp_planning_pipeline.cpp - Box grasp poses
moveit_planning_service/src/generate_box_grasp_poses.cpp - Object geometry
moveit_planning_service/src/object_geometry.cpp
Scene and robot
- Scene synchronizer
moveit_planning_service/src/moveit_scene_synchronizer.cpp - Intrinsic World
- TF / joint state
- Static transforms
moveit_planning_service/src/publish_static_transforms.cpp - Robot description
robot_hardware_description/urdf/robot.urdf.xacro - MoveIt configuration
third_party/robot_hardware_moveit_config/config/robot_hardware.srdf
Operations
- Health monitor
moveit_planning_service/src/status_monitor.cpp - Flowstate bridge
Other components
- User / Core
Connections 16
- User / Core → Motion skill: invokes
README.md - User / Core → Grasp skill: invokes
README.md - Motion skill → Planning node: requests motion plan
README.md - Grasp skill → Planning node: requests grasp plan
README.md - Planning node → ROS interfaces: serves ROS endpoints
README.md - Planning node → Grasp planning: dispatches grasp planning
moveit_planning_service/src/moveit_planning_node.cpp - Grasp planning → Box grasp poses: uses pose generator
moveit_planning_service/src/grasp_planning_pipeline.cpp - Grasp planning → Object geometry: computes bounds
moveit_planning_service/src/grasp_planning_pipeline.cpp - Planning node → Scene synchronizer: initializes synchronizer
moveit_planning_service/src/moveit_planning_node.cpp - Scene synchronizer → Intrinsic World: fetches scene objects
- Scene synchronizer → TF / joint state: tracks transforms
- Planning node → Static transforms: publishes frame links
moveit_planning_service/src/moveit_planning_node.cpp - Planning node → Robot description: uses robot model
- Planning node → MoveIt configuration: uses planning configuration
- Health monitor → Planning node: checks planning endpoints
- Health monitor → Flowstate bridge: triggers synchronization