Revision history [back]

I have the same problem. Here comes my "workaround" (it is quite a bit of work ...)

Define a new robot in openRAVE XML Format:

http://openrave.programmingvision.com/wiki/index.php/Format:XML

( <source xml=""> in the Wiki is not part of the code!)

Install openrave (from source) and start an interactive terminal

openrave.py -i

here you can use

env.Reset(); env.Load('rv4fl.xml')

to load/reload your model. Do so until it looks fine. Press ESC to go into Manipulation Mode. Try selecting a link by pressing CTRL and clicking it. Now check if it moves as expected when you move the mouse.

Now convert to COLLADA:

openrave -save test.dae rv4fl.xml

you can check that as well

openrave test.dae

Now you need the ids of base and end effector

openrave-robot.py test.dae --info links

create the ik-fast solution:

python openrave-config --python-dir/openravepy/_openravepy_/ikfast.py --robot=test.dae --iktype=transform6d --baselink=0 --eelink=6 --savefile=test.cpp

install moveit_ikfast from git and create a moveit_package

rosrun moveit_ikfast create_ikfast_moveit_plugin.py mitsubishi_rv4fl manipulator mitsubishi_rv4fl_moveit_plugins test.cpp

This will also automatically set up ik_fast in your moveit_config package

I have the same problem. Here comes my "workaround" (it is quite a bit of work ...)

Define a new robot in openRAVE XML Format:

http://openrave.programmingvision.com/wiki/index.php/Format:XML

( <source ~~xml="">~~ xml> in the Wiki is not part of the code!)

Install openrave (from source) and start an interactive terminal

openrave.py -i-i

here you can use

env.Reset(); env.Load('rv4fl.xml')env.Load('rv4fl.xml')

to load/reload your model. Do so until it looks fine. Press ESC to go into Manipulation Mode. Try selecting a link by pressing CTRL and clicking it. Now check if it moves as expected when you move the mouse.

Now convert to COLLADA:

openrave -save test.dae rv4fl.xmlrv4fl.xml

you can check that as well

openrave test.daetest.dae

Now you need the ids of base and end effector

openrave-robot.py test.dae --info linkslinks

create the ik-fast solution:

python openrave-config --python-dir/openravepy/_openravepy_/ikfast.py `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=test.dae --iktype=transform6d --baselink=0 --eelink=6 --savefile=test.cpp--savefile=test.cpp

install moveit_ikfast from git and create a moveit_package

rosrun moveit_ikfast create_ikfast_moveit_plugin.py mitsubishi_rv4fl manipulator mitsubishi_rv4fl_moveit_plugins test.cpptest.cpp

This will also automatically set up ik_fast in your moveit_config package