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inverse kinematics on katana arm?

asked 2013-08-27 09:14:26 -0500

rem870 gravatar image

updated 2013-08-27 09:19:28 -0500

Hi

i am trying to get the inverse kinematics on the katana package, the way the pr2 kinematics tutorials do.

the problem is that there is no arm navigation stack to launch.

how can i create one? should i use this http://www.ros.org/wiki/arm_navigation/Tutorials/tools/Planning%20Description%20Configuration%20Wizard

thanks

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answered 2013-08-28 06:04:31 -0500

(Note to other readers: I've been mailing back and fro with @rem870, who tries to get my katana_driver stack running.)

Hi @rem870, I suggest sticking with Fuerte right now, since MoveIt on Groovy doesn't yet have all the functionalities required to run the katana_driver stack (pick + place, object manipulator).

First, you should make sure you can get the "Kurtana" robot running in Gazebo, as described on the katana_driver wiki page.

If you want to use the IK services, you have to build arm_navigation from source, because in the current debians, the service servers are broken (only the C++ pluginlib interface works). It's patched, but only in Groovy. Your best bet is to use the branch uos_fuerte from my own arm_navigation fork:

https://github.com/uos/arm_navigation/

There are get_ik and get_fk examples in the package katana_manipulation_tutorials.

Once you have all of that running for the simulated Kurtana, you can use the Planning Description Configuration Wizard to generate a myrobot_arm_navigation package similar to the kurtana_arm_navigation package. Then go through the git history of kurtana_arm_navigation to see what other changes I had to make.

Good luck!

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answered 2013-08-27 15:12:38 -0500

bit-pirate gravatar image

If you are not forced to use Fuerte, I suggest you start looking into MoveIt! (the arm_navigation successor): http://moveit.ros.org

There is a good amount of documentation and some tutorials to help getting started. The moveit users mailing list is a helpful resource as well.

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ok . if i dont find another solution i may have to switch to groovy

rem870 gravatar image rem870  ( 2013-08-27 22:31:30 -0500 )edit

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Asked: 2013-08-27 09:14:26 -0500

Seen: 479 times

Last updated: Aug 28 '13