opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics. The package calculates closed form inverse kinematic solutions for typical industrial robots and was created by Jmeyer1292. A MoveIt! plugin for this package could be an alternative for the ikfast plugin.

See issues the follow the implementation process. (Where I mostly have conversations with myself.)

The general template is copied from the moveit srv_kinematics_plugin. Some functions are directly copied from the package descartes_opw_model.

To use this plugin with another robot, clone this package inside your workspace:

cd catkin_ws/src/
git clone --recursive https://github.com/JeroenDM/moveit_opw_kinematics_plugin.git

And also add a moveit configuration for a compatible robot. You have to update the config/kinematics.yaml file. It looks like this for a Kuka kr6r700:

manipulator:
  kinematics_solver: moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin
  opw_kinematics_geometric_parameters:
    a1:  0.025
    a2: -0.035
    b:   0.000
    c1:  0.400
    c2:  0.315
    c3:  0.365
    c4:  0.080
  opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0, 0, 0, 0]
  opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]

Changelog for package moveit_opw_kinematics_plugin

0.4.0 (2022-01-05)

• Update status badge noetic-devel (default) branch
• Run melodic ci job on ubuntu 18.04
• Sync melodic changes to noetic
  • fix bug introduced when cherry-picking commits
  • minor formatting improvement
  • replace logstring with variable LOGNAME
  • print out odd posture used in self-test on error
  • Print all deviations and check zero pose as well
• Update Jeroen's email address
• Add github actions
  • Add roscpp as CATKIN_DEPENDS
  • Use the .ci.rosinstall to install dependencies
  • Move rosinstall for testing to typical place for industrial-ci
  • Update ci badges to GHA
  • Remove travis
• Contributors: JeroenDM, Simon Schmeisser

0.3.1 (2021-09-22)

• First release in noetic.
• update to new opw_kinematics API (with std::array)
• Add opw_kinematics dependency to package.xml and CMakeLists.txt.
• Remove opw_kinematics submodule.
• Change moveit_resources to more specific moveit_resources_fanuc_moveit_config
• Minor changes:
  • It's not a service based IK solver.
  • Parameters don't always come from 'kinematics.yaml'.
• Contributors: JeroenDM, gavanderhoorn.

0.2.1 (2020-05-13)

• First release in melodic.

0.1.1 (2020-05-13)

• First release in kinetic.