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moveit: cannot move interactive marker with IKfast

asked 2016-03-29 17:39:04 -0500

PizzaTime gravatar image

Hello
i´ve a problem with ikfast for moveit. i´ve gone trough all tutorials and KDL and Trac_ik are working fine in rviz. However when i´m using the 3DOF IKfast i cant set the goal position with the marker or interact in any way with the leg with Move Group Interface. The leg is a simple leg with 3 actors in a row.

when i print openrave-robot.py <myrobot_name>.dae --info links i´ve got the following links

base_link     0                  
thorax        1     base_link    
leg_center_l1 2     thorax       
coxa_l1       3     leg_center_l1
femur_l1      4     coxa_l1      
tibia_l1      5     femur_l1     
tibia_foot_l1 6     tibia_l1

the ik-fast was calclulated with

python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=<myrobot_name>.dae --iktype=translation3d --baselink=2 --eelink=6 --savefile=ik_leg1.cpp

so it is the exact same problem as in this case https://www.youtube.com/watch?v=M1c8A... but using "position_only_ik: true" in kinematics.yaml doesnt solve the problem

leg_1:
  kinematics_solver: group_kinematics/IKFastKinematicsPlugin
  kinematics_solver_attempts: 3
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.005
  position_only_ik: true

I assume that the IK cannot solve for the solution and somehow the srdf may be wrong. I´ve used many configurations in the srdf from assigning only joints and one eef.

    <group name="leg_1">
            <joint name="base_joint" />
            <joint name="leg_center_joint_l1" />
            <joint name="coxa_joint_l1" />
            <joint name="femur_joint_l1" />
            <joint name="tibia_joint_l1" />
            <joint name="tibia_foot_joint_l1" />
        </group>
  <end_effector name="leg_1_foot" parent_link="tibia_foot_l1" group="leg_1" />

as putting putting everythin in a chain, put the rest in a subgroup

    <group name="leg_1">
        <chain base_link="thorax" tip_link="tibia_l1" />
    </group>
    <group name="leg_test">
        <joint name="leg_center_joint_l1" />
        <joint name="coxa_joint_l1" />
        <joint name="femur_joint_l1" />
        <joint name="tibia_joint_l1" />
        <joint name="tibia_foot_joint_l1" />
        <joint name="base_joint" />
    </group>
<end_effector name="leg1eef" parent_link="tibia_l1" group="leg_test" parent_group="leg_1" />
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Comments

Have you ticked the Approximate IK checkbox in the RViz MoveIt plugin UI? I'm not sure just setting position_only_ik: true is enough for the RViz plugin. It does influence the programmatic interface, but the interactive marker may be a separate thing.

gvdhoorn gravatar image gvdhoorn  ( 2016-03-30 10:36:19 -0500 )edit

Hello, Yes i´ve tried to allow approximate IK and also set collisions to ignore.

PizzaTime gravatar image PizzaTime  ( 2016-03-30 11:27:43 -0500 )edit

i´ve tried to use a newer openrave version without any success. do you know if there is a convenient way to test the generated ik?

PizzaTime gravatar image PizzaTime  ( 2016-03-30 12:53:54 -0500 )edit

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answered 2016-03-30 14:08:59 -0500

PizzaTime gravatar image

updated 2016-03-30 16:42:47 -0500

Ok so now it runs roughly and very rugged what have i done?

  1. I've installed the recommended version of sympy as told in this wiki http://wiki.ros.org/Industrial/Tutori...

  2. i've simplified the dae and used only the arm i want to calculate

  3. i've rounded the dae

    rosrun moveit_ikfast round_collada_numbers.py <myrobot_name>.dae <myrobot_name>.rounded.dae 5

  4. regenereated the ikfast solution... PS: without the correct sympy version is was impossible to generate the ikfast for the rounded.dae

but still it is not usable and i'm still unable to use the move_group_interface to set any valid positions


ok i got it :-) problem was finally solved when i changed my urdf model and removed all stl files. the generated ik_fast solver was significant smaller and now everything works perfekt!

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Thank you for your answer, it give me some guidance. But, there are still some qusetions. I built my robot by SolidWorks, and I export it as urdf. The robot description are some links to the mesh.STL in the urdf. I meet the same problem as you. Should I transform mesh.STL to mesh.dae , as your answer? If I should, what I should watch out in this process?

nuboter_cc gravatar image nuboter_cc  ( 2020-08-22 22:37:01 -0500 )edit

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Asked: 2016-03-29 17:39:04 -0500

Seen: 720 times

Last updated: Mar 30 '16