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I think the API is pretty straightforward given the README for the library.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_lib/

There is a constructor and a CartToJnt() method that are both provided with the typical use case above.

If you are using MoveIt!, then you don't call TRAC-IK directly, you just ask MoveIt! to use TRAC-IK instead of KDL.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/

UPDATE: The latest version has a) an example program for how to use the stand alone library (non-MoveIt! plugin) and b) a constructor that takes the URDF location on the rosparam server (e.g., "/robot_description") and that base and tip link of the chains, making use easier for KDL novices.

I think the API is pretty straightforward given the README for the library.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_lib/

There is a constructor and a CartToJnt() method that are both provided with the typical use case above.

If you are using MoveIt!, then you don't call TRAC-IK directly, you just ask MoveIt! to use TRAC-IK instead of KDL.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/

UPDATE: The latest version has a) an example program for how to use the stand alone library (non-MoveIt! plugin) and b) a constructor that takes the URDF location on the rosparam server (e.g., "/robot_description") and that base and tip link of the chains, making use easier for KDL novices.

I think the API is pretty straightforward given the README for the library.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_lib/

There is a constructor and a CartToJnt() method that are both provided with the typical use case above.

If you are using MoveIt!, then you don't call TRAC-IK directly, you just ask MoveIt! to use TRAC-IK instead of KDL.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/