MoveIt! IKFast

• Author: Dave Coleman, CU Boulder; Jeremy Zoss, SwRI; David Butterworth, KAIST, Mathias Lüdtke, Fraunhofer IPA
• Date: 5/24/2013
• Version: 3.0.1

Generates a IKFast kinematics plugin for MoveIt using OpenRave generated cpp files.

Tested on ROS Groovy with Catkin using OpenRave 0.8 with a 6dof and 7dof robot arm manipulator. Does not work with >7dof.

Documentation on docs.ros.org

Build Status

master branch:

Changelog for package moveit_ikfast

3.1.0 (2014-10-07)

• Search for cheapest IK solution
• Specify search mode during code generation
• Fix issue: min_count must be negative (negative direction was ignored!)
• Added G.A. vd. Hoorn as second package maintainer
• Fix for issue #34: add liblapack-dev dependency to generated pkg manifest
• scripts: add dependency on liblapack-dev to generated pkg manifest. Fix #34.
• Use getIkType() in getPositionIK()
• Added support for the Translation3D-type IK
• Fix for missing run_depends in generated pkg manifest
• Make sure run_depends get added to pkg manifest as well. Fix #30. Short-circuit evaluation of the statement determining the value of 'modified_pkg' caused the second call to update_deps(.., 'run_depend', ..) to never happen. Using binary or to work around that.
• Fixes for 23, 27 and 28
• Eigen is not actually a dependency anymore, so remove build_dep on cmake_modules.
• Remove dependency on deprecated tip_frame variable
• scripts: any change to run or build depends should trigger manifest updating.
• templates: include planning group name in plugin desc install rule. Fix #28.
• templates: remove superfluous link_directories(). Fix #23.
• templates: cmake_modules provides FindEigen, so explicitly depend on it. Fix #27. Also change order of [find_package(..)]{.title-ref} statements to reflect this and update dependency checking in pkg generator script to allow for different run and build depends ([cmake_modules]{.title-ref} is only a [build_depend]{.title-ref}).
• Remove dependency on deprecated tip_frame variable (now supports multiple tip frames)
• Added support for the Translation3D-type IK Modified the ikfast moveit template to work with OpenRAVE's Translation3D-type IK. This is useful for manipulators with few DOF (i.e., 3 or 4) that just want to go to a certain position without caring so much about the end effector's orientation.
• Contributors: Dave Coleman, G.A. vd. Hoorn, Ioan A Sucan, Nicolas Alt, Steve Levine, gavanderhoorn, nalt

3.0.7 (2014-02-25)

• Fix issue #16: install 'templates' directory into pkg share directory
• Fix issue #21: move catkin pkgs to catkin_depends in generated CMakeLists
• Fix issue #18: remove install rule for ikfast.h from generated package CMakeLists.txt
• Contributors: Dave Coleman, gavanderhoorn

3.0.6 (2014-01-03)

• adding sphinx documentation
• added branch name to build status
• added travis build status indicator in README.md
• added travis support

3.0.5 (2013-09-23)

• use GetIkType() instead of #defines This removes the need to manually specify the IK type using [#define IKTYPE_...]{.title-ref} and closes #5.
• Fix to check all depencies are in package.xml
• Merge pull request #10 from ros-planning/auto_update_script
• Merge pull request #9 from fsuarez6/master Fix IKfast plugin undefined symbol poseMsgToKDL
• Check for file existance first
• Added auto update script for keeping your plugin up to date with changes in the kinematics plugin format
• Merge branch 'master' into multiple_plugins
• Added tf_conversions dependency to expose its functions to the plugin (e.g. poseMsgToKDL)
• fix whitespace

3.0.4 (2013-07-17)

• Changed order of parameters consistency_limits and solution to match the searchPositionIK signature.

3.0.3 (2013-07-17)

• fixed IKFast code generator template to fit MoveIt interface

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