IKfast file for UR5

asked 2017-01-25 16:40:19 -0500

AndyZe gravatar image

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)

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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.

rbbg gravatar imagerbbg ( 2017-01-26 01:54:03 -0500 )edit

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.

gvdhoorn gravatar imagegvdhoorn ( 2017-01-26 01:54:11 -0500 )edit

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

gvdhoorn gravatar imagegvdhoorn ( 2017-01-26 01:54:38 -0500 )edit

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

raf4343 gravatar imageraf4343 ( 2017-07-24 14:56:39 -0500 )edit
AndyZe gravatar imageAndyZe ( 2017-07-24 15:04:43 -0500 )edit

Have you tested them with reuleaux package ?

raf4343 gravatar imageraf4343 ( 2017-07-25 08:04:38 -0500 )edit

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...

jontromanab gravatar imagejontromanab ( 2019-01-26 13:50:37 -0500 )edit