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Robowflex is a software library for robot motion planning in industrial andresearch applications, leveraging the popular MoveIt library and RobotOperating System (ROS) middleware. Robowflex provides an augmented API forcrafting and manipulating motion planning queries within a single program,making motion planning with MoveIt easy. Robowflex's high-level API simplifiesmany common use-cases while still providing low-level access to the MoveItlibrary when needed. Robowflex is particularly useful for 1) developing newmotion planners, 2) evaluating motion planners, and 3) complex problems thatuse motion planning as a subroutine (e.g., task and motion planning). Robowflexalso provides visualization capabilities, integrations to other roboticslibraries (e.g., DART and Tesseract), and is complementary to other roboticspackages. With our library, the user does not need to be an expert at ROS orMoveIt to set up motion planning queries, extract information from results, anddirectly interface with a variety of software components. We demonstrate itsefficacy through several example use-cases.

Robowflex: Robot Motion Planning with MoveIt Made Easy