Personal kinematic solver in MoveIt

asked 2023-07-13 08:03:53 -0500

TP7 gravatar image

Hello I am trying to use a customised kinematic solver on a MoveIt Configuration package. I tried to add it as another plugin solver in the list in the MoveIt setup Assistant but I couldn't edit it. I have been told that should be any edit button in the planning group in the assistant that allows me to select a personal IK solver. The planning group of my MoveIt setup assistant look like that image description.

How can I actually use a personal kinematic solver in a MoveIt Package?

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Quick comment: you will have to make sure your IK solver is implemented in the form of a MoveIt compatible IK solver plugin package. Once you have achieved that, the MSA should pick it up automatically, provided the workspace your package resides in is active (ie: you've sourced the setup.bash).

I'd suggest to take a look at the existing IK plugins and duplicate their structure (ie: package.xml, CMakeLists.txt and base skeleton C++).

gvdhoorn gravatar image gvdhoorn  ( 2023-07-14 03:24:51 -0500 )edit