Only released in EOL distros:  

katana_manipulation: katana_kinematics_constraint_aware | katana_manipulation_tutorials | katana_object_manipulation_launch | katana_openrave_grasp_planner | katana_openrave_test | katana_simple_grasp_planner | katana_tabletop_manipulation_launch

Package Summary

Documented

This package provides an plugin implementation of the kinematics_base interface to establish constraint aware kinematics services. The plugin combines the OpenRave IK service from the orroplanning package and the generic urdf-based FK from the arm_kinematics package. To provide constraint_aware services the plugin must be used with the arm_kinematics_constraint_aware node of the respective package.

Additionally, the non_constraint_aware_ik_adapter node provides the get_constraint_aware_ik service. It just strips away all the constraint aware stuff and calls a normal (non-constraint aware) get_ik service instead.

Normally, get_constraint_aware_ik checks the space of potential IK solutions (from get_ik) for a solution that obeys all constraints (i.e., a solution that is not in self-collision or in collision with the environment). That only really makes sense for a redundant (>6 DoF) robot arm. Since the Katana only has 5 DoF, we only get at most one IK solution, so there is nothing to filter.

If we return a solution that violates constraints - for instance, that is in self-collision - then move_arm will abort with an error code. But if the solution is valid, everything should work.

katana_manipulation: katana_manipulation_tutorials | katana_object_manipulation_launch | katana_simple_grasp_planner | katana_tabletop_manipulation_launch

Package Summary

Documented

This package provides an plugin implementation of the kinematics_base interface to establish constraint aware kinematics services. The plugin combines the OpenRave IK service from the orroplanning package and the generic urdf-based FK from the arm_kinematics package. To provide constraint_aware services the plugin must be used with the arm_kinematics_constraint_aware node of the respective package.

Additionally, the non_constraint_aware_ik_adapter node provides the get_constraint_aware_ik service. It just strips away all the constraint aware stuff and calls a normal (non-constraint aware) get_ik service instead.

Normally, get_constraint_aware_ik checks the space of potential IK solutions (from get_ik) for a solution that obeys all constraints (i.e., a solution that is not in self-collision or in collision with the environment). That only really makes sense for a redundant (>6 DoF) robot arm. Since the Katana only has 5 DoF, we only get at most one IK solution, so there is nothing to filter.

If we return a solution that violates constraints - for instance, that is in self-collision - then move_arm will abort with an error code. But if the solution is valid, everything should work.

Contents

Wiki: katana_kinematics_constraint_aware (last edited 2012-03-26 11:29:15 by MartinGuenther)