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Using IKFast with MoveIt! on NEXTAGEDescription: 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.
How to run
$ 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