Motion Planner Service

The MotionPlannerService provides a gRPC interface supporting various motion planning functionalities such as trajectory planning, forward/inverse kinematics computations. Users should use the MotionPlannerClient to interact with the MotionPlannerService. The MotionPlannerService also provides caching for trajectory planning.

The MotionPlanningInspector is a debugging tool to visualize historical robot motion planning data.