Is it possible to perform inverse kinematics using MoveIt! plugin without defining dynamic parameters at urdf file?

asked 2017-01-10 23:25:15 -0500

protonauta
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Given that (in theory) kinematics (forward o inverse) doesn't care about dynamic parameters such as mass or inertial matrix /Ixx, Izxy, etc.( related to links and so on. Can I perform inverse kinematics using move it! plugin in Rviz without defining dynamic parameters in the URDF file?

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answered 2017-01-12 09:55:17 -0500

jrgnicho

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The URDF format doesn't require the dynamic parameters to be specified (see here). If you already have a moveit_config package created with the moveit setup assistant from the URDF then you can run the "move_group.launch" file there which provides a number of services. One such service is the "/compute_ik" which returns a joint solution for your robot.