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Package: pilz_industrial_motion

Meta package containing the current results of the ROSIN FTP: Industrial trajectory generation for MoveIt!. The FTP is implemented by Pilz GmbH & Co. KG.


Build Status

Kinetic Melodic
Travis Build Status Build Status
Buildfarm src buildfarm buildfarm
Buildfarm bin buildfarm buildfarm

Note to Developers:

melodic-devel is considered to be the active development branch. Relevant changes are cherry-picked into kinetic-devel on a case-by-case basis.

Package: pilz_trajectory_generation

Provides the generators to create LIN, PTP and CIRC trajectories. All of these commands can be combined and executed in sequence, with and without blending, using a dedicated MoveIt! capability.

Custom commands can easily be defined and integrated due to the usage of a plugin structure.

Package: pilz_extensions

Minor extensions of existing packages needed for the trajectory_generation.

Package: pilz_robot_programming

pilz_robot_programming provides a python API for an intuitive programming of a MoveIt! enabled robot. For details please refer to the Pilz Robot Programming Documentation .

Package: pilz_store_positions

Contains a python module to store poses during teach-in.


Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components. More information:


This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 732287.