Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

How can I use the iksolver.cpp

asked 2014-05-03 05:46:32 -0500

Bastbeat

131 ●17 ●20 ●29

I generated the file to calculate the inverseKinematics with IKFast. How can I use this file, to solve the IK from a cpp in ROS? I can not find anything about that. I'm using the solver TranslationDirection5D

edit retag flag offensive close merge delete

Comments

I tried to compile the cpp anyway, to test it. And when I run it, it shows an error. Usage: ./ik r00 r01 r02 t0 r10 r11 r12 t1 r20 r21 r22 t2 free0 ... input: ./compute2 0 0 0 1 0 0 0 1 0 0 0 1 output: Failed to get ik solution

Bastbeat ( 2014-05-03 05:51:11 -0500 )edit

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2014-05-04 07:49:32 -0500

Bastbeat

131 ●17 ●20 ●29

The orientation never can be "0 0 0" in all the cases. The correct input should be (for example): ./compute2 1 0 0 0.1 0 1 0 0.2 0 0 1 0.3

And you can use the generated iksolver.cpp, using it like a normal include. Respect to the use, there is a great example: ikfastdemo.cpp: https://github.com/davetcoleman/clam/...

There you can find many ways to use the solver (IK, FK...)

edit flag offensive delete link

Comments

It still doesn't work..

JarvisRobot ( 2017-07-24 06:49:29 -0500 )edit

add a comment

Question Tools

1 follower

Stats

Asked: 2014-05-03 05:46:32 -0500

Seen: 491 times

Last updated: May 04 '14

How can I use the iksolver.cpp edit

Comments

1 Answer

Comments

Question Tools

Stats

Related questions

How can I use the iksolver.cpp