## page was renamed from Robots/TIAGo/Tutorials/Planning_cartesian_space_TRAC-IK
## page was renamed from Robots/TIAGo/Tutorials/Planning in cartesian space with TRAC-IK
## page was renamed from Robots/TIAGo/Tutorials/Planning in cartesian space with Trac-IK
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## title = Planning in cartesian space with TRAC-IK
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## description = Use [[https://bitbucket.org/traclabs/trac_ik/overview|TRAC-IK]] in [[http://moveit.ros.org|MoveIt!]] to plan a joint trajectory in order to reach a given pose in cartesian space
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## keywords = Motion planning, cartesian space, inverse kinematics, TRAC-IK
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Author: Alessandro Di Fava < alessandro.difava@pal-robotics.com >

Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >, Alessandro Di Fava < alessandro.difava@pal-robotics.com >

Support: tiago-support@pal-robotics.com

Source: https://github.com/pal-robotics/tiago_tutorials.git <<IncludeCSTemplate(TutorialCSHeaderTemplate)>>

{{attachment:tiago_trac_ik_4.png||align="right", width="200"}}
<<TableOfContents(2)>>

== Purpose ==

This tutorial shows how to use [[https://bitbucket.org/traclabs/trac_ik/overview|TRAC-IK]] in [[http://moveit.ros.org|MoveIt!]] in order to move the end-effector frame of TIAGo to a desired pose in cartesian space.
 
== Pre-requisites ==

First make sure that the tutorials are properly installed along with the TIAGo simulation, as shown in the [[Robots/TIAGo/Tutorials/Installation/TiagoSimulation|Tutorials Installation]] Section.

== Install TRAC-IK plugin ==

In order to execute the demo first we need to install the [[https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/|TRAC-IK plugin]] for MoveIt! in your workspace. In a console run the following command

{{{
sudo apt-get install ros-$ROS_DISTRO-trac-ik-kinematics-plugin
}}}

The command adds the trac-ik-kinematics-plugin and trac_ik_lib to your workspace.

== Execution ==

First open two consoles and source the public simulation workspace as follows:

{{{
cd /tiago_public_ws/
source ./devel/setup.bash
}}}

== Launching the simulation ==

In the first console launch the following simulation

{{{
IK_SOLVER=trac_ik roslaunch tiago_gazebo tiago_gazebo.launch public_sim:=true end_effector:=pal-gripper
}}}

Gazebo will show up with TIAGo.

{{attachment:tiago_steel_planning_ik_gazebo.jpg||align="center", width="600"}}

Wait until TIAGo has tucked its arm. Then you may proceed with the next steps.

The '''IK_SOLVER=trac_ik''' environment variable is used to set TRAC_IK solver as the solver to use in MoveIt! Without this variable, the default solver is the KDL one.
The configuration file '''tiago_moveit_config/config/kinematics_trac_ik.yaml''' referred to TRAC_IK solver is shown: 
{{{
arm_torso:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  kinematics_solver_timeout: 0.005
  solve_type: Speed
  position_only_ik: false
arm:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  kinematics_solver_timeout: 0.005
  solve_type: Speed
  position_only_ik: false
}}}
See https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin for details about the parameters.

== Launching the nodes ==

Now we are going to run the example of the previous tutorial (see http://wiki.ros.org/Robots/TIAGo/Tutorials/MoveIt/Planning_cartesian_space for details) that will bring TIAGo's end-effector frame, i.e. arm_tool_link, to the following cartesian space configuration with respect to /base_footprint:

{{{
x: 0.4
y: -0.3
z: 0.26
Roll: -0.011
Pitch: 1.57
Yaw: 0.037
}}}

In order to safely reach such a cartesian goal the node '''plan_arm_torso_ik''' included in '''tiago_moveit_tutorial''' package has to be called as follows

{{{
rosrun tiago_moveit_tutorial plan_arm_torso_ik 0.4 -0.3 0.26 -0.011, 1.57, 0.037
}}}

An example of plan executed by the node is depicted in the following sequence of images:
|| {{attachment:tiago_trac_ik_1.png||width="350"}} || {{attachment:tiago_trac_ik_2.png||width="350"}} ||

|| {{attachment:tiago_trac_ik_3.png||width="350"}} || {{attachment:tiago_trac_ik_4.png||width="350"}} ||

Note that the final pose of /arm_tool_link is the same of the previous tutorial, but the joints configuration of the arm is different. It depends on MoveIt! planner but it's also due to the using of a different IK solver.

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