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how to use trac_ik library?

asked 2015-11-24 08:45:50 -0500

tristancrs gravatar image

Hi there, I am trying to use the new library trac_ik in order to improve efficiency of the inverse kinematic process but I am not sure how to do it. Does anyone find out a way to use it? thanks

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Can you clarify a bit? What is it that you actually want to do with it?

gvdhoorn gravatar image gvdhoorn  ( 2015-11-24 12:16:22 -0500 )edit

right, instead of using KDL's ik, I'd like to use trac_ik. So basically, I received a position and orientation from an haptic device, and I want to process the inverse kinematic in order to get angular position of my robot arm and finally send the arm to this position. thanks

tristancrs gravatar image tristancrs  ( 2015-11-24 13:40:07 -0500 )edit

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answered 2015-11-25 09:54:19 -0500

pbeeson gravatar image

updated 2016-01-17 10:56:04 -0500

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

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.

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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.

pbeeson gravatar image pbeeson  ( 2016-01-17 10:55:56 -0500 )edit

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Asked: 2015-11-24 08:45:50 -0500

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Last updated: Jan 17 '16