No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/traclabs/trac_ik.git
VCS Type git
VCS Version master
Last Updated 2019-07-16
Dev Status MAINTAINED
Released RELEASED

Package Description

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

Additional Links

Maintainers

  • Patrick Beeson

Authors

  • Patrick Beeson
  • Barrett Ames
README
No README found. See repository README.
CHANGELOG

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

1.5.0 (2018-08-22)

  • Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

  • Change to python install location for swig wrapper

1.4.10 (2018-01-21)

  • Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

1.4.8 (2017-12-26)

  • Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

  • Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

  • Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

  • Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

  • Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

  • trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

  • New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

  • Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

  • Added example program for using TRAC-IK.
  • Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

  • Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
  • Some README fixes based on user comments

1.3.8 (2016-01-04)

  • Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

  • Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

  • Fixed tolerances to be in tip frame, not base frame.
  • Fixed Hydro compile issue
  • Changed to std::numeric_limits for +/-FLT_MAX and epsilons
  • Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

  • Overhaul of how multiple solutions are managed in TRAC-IK threads.
  • Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

  • Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

  • Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

  • Fixed bug where TRAC-IK multisolution modes weren\'t using the computed random seeds, but were using the same seed over and over.
  • Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

  • Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

  • Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
  • Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings \"Speed\", \"Distance\", \"Manipulation1\", \"Manipulation2\".

1.2.1 (2015-12-07)

  • Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

  • Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
  • Made MoveIt! support this new IK run mode if the user desires.
  • Improved timing info to use a higher solution clock.
  • Fixed TRAC-IK\'s abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

  • Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
  • Fixed issue where MoveIt! plugin was not thread safe.
  • Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

  • Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

  • Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
  • Fixed bug where continuous joints could cause problems.
  • Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

  • Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
  • Made trac_ik packages conform to rosdep standards.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged trac_ik at answers.ros.org

Package Summary

Tags No category tags.
Version 1.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/traclabs/trac_ik.git
VCS Type git
VCS Version master
Last Updated 2019-07-16
Dev Status MAINTAINED
Released RELEASED

Package Description

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

Additional Links

Maintainers

  • Patrick Beeson

Authors

  • Patrick Beeson
  • Barrett Ames
README
No README found. See repository README.
CHANGELOG

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

1.5.0 (2018-08-22)

  • Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

  • Change to python install location for swig wrapper

1.4.10 (2018-01-21)

  • Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

1.4.8 (2017-12-26)

  • Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

  • Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

  • Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

  • Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

  • Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

  • trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

  • New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

  • Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

  • Added example program for using TRAC-IK.
  • Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

  • Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
  • Some README fixes based on user comments

1.3.8 (2016-01-04)

  • Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

  • Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

  • Fixed tolerances to be in tip frame, not base frame.
  • Fixed Hydro compile issue
  • Changed to std::numeric_limits for +/-FLT_MAX and epsilons
  • Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

  • Overhaul of how multiple solutions are managed in TRAC-IK threads.
  • Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

  • Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

  • Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

  • Fixed bug where TRAC-IK multisolution modes weren\'t using the computed random seeds, but were using the same seed over and over.
  • Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

  • Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

  • Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
  • Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings \"Speed\", \"Distance\", \"Manipulation1\", \"Manipulation2\".

1.2.1 (2015-12-07)

  • Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

  • Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
  • Made MoveIt! support this new IK run mode if the user desires.
  • Improved timing info to use a higher solution clock.
  • Fixed TRAC-IK\'s abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

  • Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
  • Fixed issue where MoveIt! plugin was not thread safe.
  • Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

  • Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

  • Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
  • Fixed bug where continuous joints could cause problems.
  • Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

  • Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
  • Made trac_ik packages conform to rosdep standards.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged trac_ik at answers.ros.org

No version for distro ardent. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 1.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/traclabs/trac_ik.git
VCS Type git
VCS Version master
Last Updated 2019-07-16
Dev Status MAINTAINED
Released RELEASED

Package Description

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

Additional Links

Maintainers

  • Patrick Beeson

Authors

  • Patrick Beeson
  • Barrett Ames
README
No README found. See repository README.
CHANGELOG

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

1.5.0 (2018-08-22)

  • Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

  • Change to python install location for swig wrapper

1.4.10 (2018-01-21)

  • Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

1.4.8 (2017-12-26)

  • Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

  • Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

  • Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

  • Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

  • Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

  • trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

  • New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

  • Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

  • Added example program for using TRAC-IK.
  • Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

  • Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
  • Some README fixes based on user comments

1.3.8 (2016-01-04)

  • Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

  • Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

  • Fixed tolerances to be in tip frame, not base frame.
  • Fixed Hydro compile issue
  • Changed to std::numeric_limits for +/-FLT_MAX and epsilons
  • Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

  • Overhaul of how multiple solutions are managed in TRAC-IK threads.
  • Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

  • Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

  • Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

  • Fixed bug where TRAC-IK multisolution modes weren\'t using the computed random seeds, but were using the same seed over and over.
  • Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

  • Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

  • Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
  • Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings \"Speed\", \"Distance\", \"Manipulation1\", \"Manipulation2\".

1.2.1 (2015-12-07)

  • Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

  • Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
  • Made MoveIt! support this new IK run mode if the user desires.
  • Improved timing info to use a higher solution clock.
  • Fixed TRAC-IK\'s abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

  • Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
  • Fixed issue where MoveIt! plugin was not thread safe.
  • Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

  • Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

  • Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
  • Fixed bug where continuous joints could cause problems.
  • Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

  • Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
  • Made trac_ik packages conform to rosdep standards.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged trac_ik at answers.ros.org

Package Summary

Tags No category tags.
Version 1.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/traclabs/trac_ik.git
VCS Type git
VCS Version master
Last Updated 2019-07-16
Dev Status MAINTAINED
Released RELEASED

Package Description

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

Additional Links

Maintainers

  • Patrick Beeson

Authors

  • Patrick Beeson
  • Barrett Ames
README
No README found. See repository README.
CHANGELOG

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

1.5.0 (2018-08-22)

  • Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

  • Change to python install location for swig wrapper

1.4.10 (2018-01-21)

  • Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

1.4.8 (2017-12-26)

  • Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

  • Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

  • Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

  • Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

  • Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

  • trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

  • New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

  • Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

  • Added example program for using TRAC-IK.
  • Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

  • Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
  • Some README fixes based on user comments

1.3.8 (2016-01-04)

  • Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

  • Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

  • Fixed tolerances to be in tip frame, not base frame.
  • Fixed Hydro compile issue
  • Changed to std::numeric_limits for +/-FLT_MAX and epsilons
  • Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

  • Overhaul of how multiple solutions are managed in TRAC-IK threads.
  • Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

  • Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

  • Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

  • Fixed bug where TRAC-IK multisolution modes weren\'t using the computed random seeds, but were using the same seed over and over.
  • Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

  • Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

  • Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
  • Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings \"Speed\", \"Distance\", \"Manipulation1\", \"Manipulation2\".

1.2.1 (2015-12-07)

  • Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

  • Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
  • Made MoveIt! support this new IK run mode if the user desires.
  • Improved timing info to use a higher solution clock.
  • Fixed TRAC-IK\'s abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

  • Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
  • Fixed issue where MoveIt! plugin was not thread safe.
  • Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

  • Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

  • Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
  • Fixed bug where continuous joints could cause problems.
  • Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

  • Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
  • Made trac_ik packages conform to rosdep standards.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged trac_ik at answers.ros.org

Package Summary

Tags No category tags.
Version 1.5.1
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/traclabs/trac_ik.git
VCS Type git
VCS Version master
Last Updated 2019-07-16
Dev Status MAINTAINED
Released RELEASED

Package Description

The ROS packages in this repository were created to provide an improved alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL. TRAC-IK handles joint-limited chains better than KDL without increasing solve time.

Additional Links

Maintainers

  • Patrick Beeson

Authors

  • Patrick Beeson
  • Barrett Ames
README
No README found. See repository README.
CHANGELOG

1.5.1 (2019-07-15)

  • Fixed theta normalize bug

1.5.0 (2018-08-22)

  • Switch to C++-11 threads and pointers instead of Boost

1.4.11 (2018-02-06)

  • Change to python install location for swig wrapper

1.4.10 (2018-01-21)

  • Fix URDF types to work in Indigo through Lunar on trusty through zesty

1.4.9 (2018-01-11)

1.4.8 (2017-12-26)

  • Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed

1.4.7 (2017-12-21)

  • Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything

1.4.6 (2017-11-8)

  • Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK

1.4.5 (2016-12-21)

  • Updated CMake file to work with Eigen on 14.04 through 16.04

1.4.4 (2016-08-01)

  • Minor formatting and speed improvements based on user Issues and Pull Requests.

1.4.3 (2016-06-16)

  • trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev

1.4.2 (2016-06-16)

  • New revision for ROS Package release. Thanks to Gijs van der Hoorn

1.4.1 (2016-01-16)

  • Fixed weird parsing issue with certain URDFs.

1.4.0 (2016-01-16)

  • Added example program for using TRAC-IK.
  • Added ability to get KDL chain structures from TRAC-IK class.

1.3.9 (2016-01-16)

  • Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
  • Some README fixes based on user comments

1.3.8 (2016-01-04)

  • Fixed how continuous joints are handled in random restarts

1.3.7 (2016-01-04)

  • Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.

1.3.6 (2016-01-04)

  • Fixed tolerances to be in tip frame, not base frame.
  • Fixed Hydro compile issue
  • Changed to std::numeric_limits for +/-FLT_MAX and epsilons
  • Fixed potential error with URDF soft limits

1.3.5 (2015-12-08)

  • Overhaul of how multiple solutions are managed in TRAC-IK threads.
  • Improved speed and accurate returning of unique results found.

1.3.4 (2015-12-10)

  • Fixed a bug where we were looping over solutions inside of looping over solutions.

1.3.3 (2015-12-10)

  • Change final normalization for manipulability metrics with continuous joints. Make continuous joints explicitly handled (if lower_limit >= upper_limit, joint is continuous).

1.3.2 (2015-12-10)

  • Fixed bug where TRAC-IK multisolution modes weren\'t using the computed random seeds, but were using the same seed over and over.
  • Fixed potential issues with large bound joints seraching too large of a space

1.3.1 (2015-12-08)

  • Slight tweak to Manipulation metrics function to ensure it always works, even with weird Jacobians.

1.3.0 (2015-12-07)

  • Added a mode to TRAC-IK constructor that determines how the IK solver runs: 1) Speed return immediately whenever any solution is found (all other modes run for the requested timeout to try to find multiple solutions); 2) Distance runs for the timeout and returns the solution found that minimizes the Sum-of-Squares error from the seed; 3) Manip1 returns the solution that maximizes the manipulation metric sqrt(det(J*J^T)); 4) Manip2 returns the metric that minimizes the condition number J* J^-1.
  • Added support for these modes in the MoveIt! plugin via the kinematic.yaml parameter solve_type, which can be one of the strings \"Speed\", \"Distance\", \"Manipulation1\", \"Manipulation2\".

1.2.1 (2015-12-07)

  • Fixed a bug in the MoveIt! plugin FK call that assumed all joint poses were desired.

1.2.0 (2015-12-04)

  • Extended TRAC-IK to both run in two ways: 1) the old mode of first IK solution found causes TRAC-IK to return immediately, versus 2) the new mode where TRAC-IK runs for the full requested timeout duration, then sorts all solutions according to distance from the seed and returns the minimum.
  • Made MoveIt! support this new IK run mode if the user desires.
  • Improved timing info to use a higher solution clock.
  • Fixed TRAC-IK\'s abort/reset of KDL-RR and NLOpt-IK to catch race conditions.

1.1.2 (2015-12-3)

  • Fixed issue where clamping a seed to be within the joint limits might still have values outside the limits.
  • Fixed issue where MoveIt! plugin was not thread safe.
  • Fixed an issue in MoveIt! plugin where error_code passed in uninitialized to SUCCESS could cause IK to say it failed when it did not.

1.1.1 (2015-11-19)

  • Prepared code to have auto test suite run to generate data in main README.md.

1.1.0 (2015-11-12)

  • Improvements to KDL-RR that better handle joint limits on rotational joints that can turn +- PI.
  • Fixed bug where continuous joints could cause problems.
  • Made NLOpt modes enums instead of integer parameters.

1.0.0 (2015-11-10)

  • Initial checkin of TRAC-IK as of Humanoids 2015 submission. Pulled from private repo.
  • Made trac_ik packages conform to rosdep standards.

Wiki Tutorials

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