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Adding constrained_ik to MoveIt kinematics

Description: Covers the steps to expose constrained_ik as an IK solver for MoveIt

Keywords: industrial, moveit, kinematics

Tutorial Level: INTERMEDIATE

Contents

  1. Link IK Solver to Robot Moveit Package
  2. Add IK Solver to MoveIt Config File
  3. Run Your Planner
  4. Explicit Example Code

In this tutorial we will learn to use the constrained_ik IK solver in MoveIt

  • Create a catkin workspace (http://wiki.ros.org/catkin/Tutorials/create_a_workspace)

  • Add a symlink to both the robot moveit package and industrial_moveit package 
    cd <path_to_catkin_ws>/src
ln -s <path_to_robot_moveit_package> <name_of_robot_moveit_package>
ln -s <path_to_industrial_moveit_package> industrial_moveit
  • Build the workspace 
    catkin_make
  • IMPORTANT: source the catkin workspace first, in EVERY terminal 
    source devel/setup.bash

Add IK Solver to MoveIt Config File

  • Locate the kinematics.yaml file in your <robot>_moveit_config/config directory

  • Edit the kinematics_solver definition to reference the constrained_ik solver 

    kinematics_solver: constrained_ik/ConstrainedIKPlugin

Run Your Planner

  • Run planner for robot. For example: 
    roslaunch <robot>_moveit_config demo.launch

Explicit Example Code

(I wish every tutorial had this for clarity)
Assumtions:

  • ROS-Industrial repository abb is checked out to ~/ros/abb

  • ROS-Industrial repository industrial_moveit is checked out to ~/ros/industrial_moveit 

cd ~/ros
mkdir -p catkin_ws/src
cd catkin_ws
catkin_make
cd src
ln -s ~/ros/abb/ abb
ln -s ~/ros/industrial_moveit/ industrial_moveit
cd ~/ros/catkin_ws
catkin_make
source devel/setup.bash
roscd irb_2400_moveit_config/config
gedit kinematics.yaml

Edit the kinematics_solver line to read kinematics_solver: constrained_ik/ConstrainedIKPlugin. The whole file should look like this: 

manipulator:
  kinematics_solver: constrained_ik/ConstrainedIKPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
  kinematics_solver_attempts: 3

Run the demo code to test the kinematics 

roslaunch irb_2400_moveit_config demo.launch

Wiki: industrial_moveit/Tutorials/Adding constrained_ik to MoveIt kinematics (last edited 2013-10-26 18:44:39 by DanielSolomon)

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