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arm_navigation stack

asked 2012-05-24 04:03:03 -0600

ocli gravatar image

updated 2012-05-24 04:31:56 -0600

I'm fairly new to ROS and especially the arm_navigation stack and was just wondering if there's a simpler method to determine the inverse kinematics of a custom/undefined manipulator than described in the Running arm navigation on non-PR2 arm, which describes altering the pr2_arm_kinematics stack's services and source to suit a custom manipulator. I followed the arm_navigation tutorials and in the inverse kinematics tutorial the source requires services "pr2_right_arm_kinematics/get_ik_solver_info" and "pr2_right_arm_kinematics/get_ik", which I'm sure are only relevant to the pr2 - as is in the description of the pr2_arm_kinematics stack. Likewise with the iROS tutorial and all other's I've found.

Thanks in advance

EDIT: The reason I am not a fan of this method is than I have a 5 DOF robot, not 7. meaning I would have to go through several ~500 line source code files to adapt the code. Or I could go the ineloquent task of added 2 fixed joints and nonexistant links

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I have used the Planning Description Configuration Wizard to attempt to set up the IK solver relevant to my robot, but the tutorial [Inverse kinematics for the PR2 arms] uses pr2 services to determine the IK, which is 7DOF, and cannot suit 5DOF.

ocli gravatar image ocli  ( 2012-05-24 06:07:46 -0600 )edit

The wizard should setup kinematics for your robot, not for the PR2.

dornhege gravatar image dornhege  ( 2012-05-24 06:55:16 -0600 )edit

OK I think I misunderstood the tutorials. It almost works now, just working on a few new problems to do with package dependencies etc. Thanks for the time though

ocli gravatar image ocli  ( 2012-05-27 21:46:45 -0600 )edit

3 Answers

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answered 2012-05-24 05:34:18 -0600

David Lu gravatar image

You should definitely check out the Planning Description Configuration Wizard Tutorial.

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answered 2012-05-24 10:07:21 -0600

Dave Coleman gravatar image

updated 2012-05-24 10:08:20 -0600

David Lu's arm_kinematics package will automatically create an IK solver for your non-PR2 arm. You do not really need to worry about the inverse kinematics tutorial you linked to because that is only for PR2 arms. Additionally, I believe the "Planning Description Configuration Wizard" sets up David Lu's IK solver for you.

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answered 2012-05-24 05:33:06 -0600

dornhege gravatar image

Are asking about setting up IK for a custom robot or about using IK?

For the latter, you can follow the tutorials. A custom robot would have the same interface, but differently named plugin interfaces or service calls.

For setting up a custom robot you can either write your own kinematics node or use the Planning Description Configuration Wizard. As far as I know it sets up generic IK solvers that might or might not work well for your robot.

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Asked: 2012-05-24 04:03:03 -0600

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Last updated: May 24 '12