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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)
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: 2017-01-25 16:40:19 -0500
Seen: 1,467 times
Last updated: Mar 17 '21
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I could be wrong, but I was under the impression that
ur_kinematicsfrom the universal_robots package was either an IKFast plugin or at least based on one. It does contain anikfast.hfile.ur_kinematicsis not IKFast compatible, but it is aKinematicsBasecompatible IK plugin. I don't know the specific requirements for Reuleaux, but if it basically uses MoveIt compatible IK plugins,ur_kinematicsshould work.@rbbg: ha :). But no, it's not IKFast, but compatible.
Could you please post the ikfast file for UR5 ? It would save me some time.
There are some here: https://github.com/ros-industrial-con...
Have you tested them with reuleaux package ?
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...