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I have updated the IKFast plugin generator to work with moveIt. The changes have not yet been integrated into the official arm_kinematics_tools repository, so I've uploaded a patch to the wiki for now. This wiki page provides an updated walkthrough for creating an IKFast plugin under moveIt.

The patch updates two parts of the plugin-generation package:

1. It creates a new template file, to work with the new moveIt kinematics plugin API
   • ikfast61_moveit_plugin_template.cxx
   • I did not create an updated template for ikfast 54
   • Some changes were obvious (const, references, etc.)
   • It could use some double-checking (esp. for consistency_limits handling)
     
     
2. The config-file generation is now moveit-compatible:
   • assumes a rosbuild (not catkin) package

I have updated the IKFast plugin generator to work with moveIt. The changes have not yet been integrated into the official arm_kinematics_tools repository, so I've uploaded a patch patch to the wiki for now. This The wiki page provides an updated walkthrough for creating an IKFast plugin under moveIt.

Since my low-karma prevents inline links:

• patch: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution/moveit_plugin?action=AttachFile&do=get&target=ikfast_moveit_plugin.patch
• wiki: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution/moveit_plugin

The patch updates two parts of the plugin-generation package:

1. It creates a new template file, to work with the new moveIt kinematics plugin API
   • ikfast61_moveit_plugin_template.cxx
   • I did not create an updated template for ikfast 54
   • Some changes were obvious (const, references, etc.)
   • It could use some double-checking (esp. for consistency_limits handling)
     
     
2. The config-file generation is now moveit-compatible:
   • assumes a rosbuild (not catkin) package

I have updated the IKFast plugin generator to work with moveIt. The changes have not yet been integrated into the official arm_kinematics_tools repository, so I've uploaded a patch patch to the wiki for now. The wiki wiki page provides an updated walkthrough for creating an IKFast plugin under moveIt.

The patch updates two parts of the plugin-generation package:

1. It creates a new template file, to work with the new moveIt kinematics plugin API
   • ikfast61_moveit_plugin_template.cxx
   • I did not create an updated template for ikfast 54
   • Some changes were obvious (const, references, etc.)
   • It could use some double-checking (esp. for consistency_limits handling)
     
     
2. The config-file generation is now moveit-compatible:
   • assumes a rosbuild (not catkin) package