moveit_opw_kinematics_plugin repository

Repository Summary

Checkout URI https://github.com/JeroenDM/moveit_opw_kinematics_plugin.git
VCS Type git
VCS Version melodic-devel
Last Updated 2020-08-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
moveit_opw_kinematics_plugin 0.2.1

README

opw_kinematics_plugin

Build Status

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]

CONTRIBUTING

No CONTRIBUTING.md found.

Repository Summary

Checkout URI https://github.com/JeroenDM/moveit_opw_kinematics_plugin.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2020-05-13
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
moveit_opw_kinematics_plugin 0.1.1

README

opw_kinematics_plugin

Build Status

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 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]

CONTRIBUTING

No CONTRIBUTING.md found.