IKfast file for UR5

As I'm rather lazy, I was wondering if anybody has already created an IKfast file for a UR5. If not, I'll post a link when I'm done creating it.

(This is needed for the ROS-I Reuleaux package)

Asked by AndyZe on 2017-01-25 17:40:19 UTC

Comments

I could be wrong, but I was under the impression that ur_kinematics from the universal_robots package was either an IKFast plugin or at least based on one. It does contain an ikfast.h file.

Asked by rbbg on 2017-01-26 02:54:03 UTC

ur_kinematics is not IKFast compatible, but it is a KinematicsBase compatible IK plugin. I don't know the specific requirements for Reuleaux, but if it basically uses MoveIt compatible IK plugins, ur_kinematics should work.

Asked by gvdhoorn on 2017-01-26 02:54:11 UTC

@rbbg: ha :). But no, it's not IKFast, but compatible.

Asked by gvdhoorn on 2017-01-26 02:54:38 UTC

Could you please post the ikfast file for UR5 ? It would save me some time.

Asked by raf4343 on 2017-07-24 14:56:39 UTC

There are some here: https://github.com/ros-industrial-consortium/reuleaux/tree/053a49ec1996081540c8388a4f1b00dba5ff1548/map_creator/maps

Asked by AndyZe on 2017-07-24 15:04:43 UTC

Have you tested them with reuleaux package ?

Asked by raf4343 on 2017-07-25 08:04:38 UTC

Hey, can anybody please let me know if this is solved. The link provided by @AndyZe are only the maps created. Here are some of the ikfast files generated.

https://github.com/jontromanab/ikfast_and_reach_maps

Asked by jontromanab on 2019-01-26 14:50:37 UTC

Answers

I recently created one for the UR10 but then recognized, that there is the ur_kinematics solver which is much more developed

Instead of reuleaux you could also use the reuleaux_moveit package:

This version of reauleaux creates reachability map using moveit interface. Now reuleaux can create map of redundant manipulators with self collision checking

But to answer your question: The developer of the reuleaux package provides some IKFast cpp files and already generated maps for the UR5, which can be found in his repository here If you want to visualize the workspace with reuleaux you should also checkout the kinematicreachability module of openrave

Asked by vonunwerth on 2021-03-17 06:14:30 UTC