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how to install ikfast on noetic

asked 2021-10-12 07:06:58 -0600

jxc gravatar image

Why is there no installation tutorial for Ikfast based on noetic version? At the same time, many of ikfast's dependencies and library features are gone. Has anyone successfully installed ikfast kinematics on Ubuntu20.04 and noetic versions

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Why is there no installation tutorial for Ikfast based on noetic version?

mostly because "the community" has migrated to use a Docker image instead. Building IKFast is troublesome, on whichever OS, not just Ubuntu Focal.

Refer to the IKFast Kinematics Solver for information on the approach (note: I do not write here: follow all of these steps blindly).

At the same time, many of ikfast's dependencies and library features are gone

what do you mean exactly by this? IKFast was never a part of ROS, it's a stand-alone project, of which parts were used to generate an IK solver as a MoveIt plugin. That should still work.

gvdhoorn gravatar image gvdhoorn  ( 2021-10-14 02:51:58 -0600 )edit

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answered 2021-10-13 11:24:57 -0600

updated 2021-10-13 11:26:54 -0600

It's possible as you can see with this thread: https://github.com/ros-planning/movei...

You will have to build from source and address any conflict with the dependencies. The link above is from a current discussion. The tutorials for Melodic should be good when using Noetic.

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The issue you link is about MoveIt in general, not IKFast specifically. Could you clarify how it is related @osilva?

gvdhoorn gravatar image gvdhoorn  ( 2021-10-14 02:49:21 -0600 )edit

Hi @gvdhoorn i was assuming the question was about the Ikfast plugin that works with Moveit: http://docs.ros.org/en/kinetic/api/mo...

osilva gravatar image osilva  ( 2021-10-14 04:04:31 -0600 )edit

I just read your comments as well. I’ll edit my answer shortly. Thank you @gvdhoorn

osilva gravatar image osilva  ( 2021-10-14 04:06:57 -0600 )edit

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Asked: 2021-10-12 07:06:58 -0600

Seen: 68 times

Last updated: Oct 13 '21