  Robowflex is a software library for robot motion planning in industrial and
research applications, leveraging the popular MoveIt library and Robot
Operating System (ROS) middleware. Robowflex takes advantage of the ease of
motion planning with MoveIt while providing an augmented API to craft and
manipulate motion planning queries within a single program. Robowflex's
high-level API simplifies many common use-cases while still providing access to
the underlying MoveIt library. Robowflex is particularly useful for 1)
developing new motion planners, 2) evaluation of motion planners, and 3)
complex problems that use motion planning (e.g., task and motion planning).
Robowflex also provides visualization capabilities, integrations to other
robotics libraries (e.g., DART and Tesseract), and is complimentary to many
other robotics packages. With our library, the user does not need to be an
expert at ROS or MoveIt in order to set up motion planning queries, extract
information from results, and directly interface with a variety of software
components. We provide a few example use-cases that demonstrate its efficacy.
