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Using IKFast with MoveIt! on NEXTAGE

Description: Use IKFast solver for NXO along with MoveIt!.

Keywords: IK, Inverse Kinematics, OpenRave

Tutorial Level: INTERMEDIATE

Next Tutorial: rtmros_nextage/Tutorials/Task-oriented programming

NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.

Introduction

Starting version 0.7.12 (#1) of rtmros_nextage software, IKFast configuration package nextage_ik_plugin becomes available via the binary package.

How to run

Run MoveIt! with specifying kinematics configuration. In a previous tutorial we started MoveIt! like the following, which uses KDL as a default:

$ roslaunch nextage_moveit_config moveit_planning_execution.launch        

Instead, specify the config in order to use IKFast:

$ roslaunch nextage_moveit_config moveit_planning_execution.launch kinematics_conf:=`rospack find nextage_moveit_config`/config/kinematics_ikfast.yaml


2020-02-22 13:13