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Using IKFast plugin with Gazebo

asked 2015-10-07 19:47:52 -0500

MahsaP gravatar image


Is it possible to use IKFast plugin with Gazebo? I would like to have the inverse kinematics of the robot when I run the robot in Gazebo.

In fact, the plugin for ikfast is ready (consider Denso or Universal robots), and I have modified the kinematics.yaml file in the moveit package. But, I don't know how to do that. A good example can pave my way.

Thank you.

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answered 2015-10-08 15:39:44 -0500

130s gravatar image

updated 2015-10-13 01:48:55 -0500

Robot's Gazebo package should define/mimic the control layer (see the tutorial for that) but for anything located at higher layer (IKFast should be too) you should be able to use the same code that you use for your real robot.

For each robot specific package:

  • UR seems to already come with Gazebo pkg, so you may be able to simply apply your IKFast plugin to that using MoveIt! (I'm not sure much about UR).

  • Denso pkg hasn't been fully integrated yet with Gazebo so that using IKFast in Gazebo with Denso still needs some work (what's remaining is to bind controller with Gazebo, which is exactly what the tutorial above talks about).

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@130s Thank you for your suggestion. I will try to test it on ur5. For denso I have already made the control layer based on ros_control. I think after reviewing the package you mentioned I can find a way for denso.

MahsaP gravatar image MahsaP  ( 2015-10-08 15:53:54 -0500 )edit

@130s I looked at the page you suggested for ur5. I need IKFast to transform the pose of end-effector in the task space (cartesian) to the joint space. Through the inverse kinematic I can command the robot to the desired configuration. Do you think this plugin can do this purpose?

MahsaP gravatar image MahsaP  ( 2015-10-10 17:47:03 -0500 )edit

@MahsaP sorry, not sure if I understand your question. But if you're willing to operate arms in cartesian space, MoveIt! provides I/F for that, without even requiring IKFast (you can utilize IKFast if you with too). And looks like there are already MoveIt! packages for UR5 and 10.

130s gravatar image 130s  ( 2015-10-13 01:54:02 -0500 )edit

@130s Thank you for your explanation. I will check it.

MahsaP gravatar image MahsaP  ( 2015-10-13 05:30:23 -0500 )edit

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Asked: 2015-10-07 19:47:52 -0500

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Last updated: Oct 13 '15