Pulling Jacobian data from KDL Kinematics Plugin Moveit2
Hello,
I'm new to ROS, so apologies for any mistakes.
I'm on Ubuntu 20.04.4 running ROS2 Foxy with Moveit2. I'm trying to find a way of accessing / manipulating the Jacobian data from inside the default KDL Kinematics Plugin for Moveit2. I'm using an xArm7, and the launch files keep referencing the kinematics.yaml file which then I assume just tosses the calculations to KDLKinematicsPlugin.
Example kinematics.yaml file
xarm7:
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
# kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
kinematics_solver_attempts: 3
Any help would be much appreciated, thank you
Asked by razeragon on 2022-08-23 14:48:27 UTC
Comments
Can you access
get_jacobian_matrix()? The documentation is available here. However, I am not sure if it is available in Moveit2. If not, then you may look at the implementation in Moveit and replicate the same in Moveit2.Asked by ravijoshi on 2022-08-24 00:54:24 UTC
Hi Ravi, thanks for your comment.
It does look like that function can be found in the Moveit2 codebase (https://github.com/ros-planning/moveit2/blob/main/moveit_commander/src/moveit_commander/move_group.py), but it seems like it will only allow me to pull the Jacobian data from the robot without being able to manipulate it and send it back. I will look into testing out this function inside my code and seeing what happens though, thank you!
Asked by razeragon on 2022-08-24 10:11:12 UTC