inverse kinematics on katana arm?

edit

(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!

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.