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Using IKFast with MoveIt! on NEXTAGE
Description: Use IKFast solver for NXO along with MoveIt!.Keywords: IK, Inverse Kinematics, OpenRave
Tutorial Level: INTERMEDIATE
Next Tutorial: rtmros_nextage/Tutorials/Task-oriented programming
Contents
NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.
Introduction
Starting version 0.7.12 (#1) of rtmros_nextage software, IKFast configuration package nextage_ik_plugin becomes available via the binary package.
#1 nextage_ik_plugin code has been there since 0.6.4 but it's binary wasn't just released, simply by the maintainer's mistake.
How to run
Run MoveIt! with specifying kinematics configuration. In a previous tutorial we started MoveIt! like the following, which uses KDL as a default:
$ roslaunch nextage_moveit_config moveit_planning_execution.launch
Instead, specify the config in order to use IKFast:
$ roslaunch nextage_moveit_config moveit_planning_execution.launch kinematics_conf:=`rospack find nextage_moveit_config`/config/kinematics_ikfast.yaml
