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Hi there, I am trying to use the new library trac_ik in order to improve efficiency of the inverse kinematic process but I am not sure how to do it. Does anyone find out a way to use it? thanks


Originally posted by tristancrs on ROS Answers with karma: 21 on 2015-11-24

Post score: 1


Original comments

Comment by gvdhoorn on 2015-11-24:
Can you clarify a bit? What is it that you actually want to do with it?

Comment by tristancrs on 2015-11-24:
right, instead of using KDL's ik, I'd like to use trac_ik. So basically, I received a position and orientation from an haptic device, and I want to process the inverse kinematic in order to get angular position of my robot arm and finally send the arm to this position. thanks

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I think the API is pretty straightforward given the README for the library.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_lib/

There is a constructor and a CartToJnt() method that are both provided with the typical use case above.

If you are using MoveIt!, then you don't call TRAC-IK directly, you just ask MoveIt! to use TRAC-IK instead of KDL.

https://bitbucket.org/traclabs/trac_ik/src/HEAD/trac_ik_kinematics_plugin/


Originally posted by pbeeson with karma: 276 on 2015-11-25

This answer was ACCEPTED on the original site

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Comment by pbeeson on 2016-01-17:
UPDATE: The latest version has a) an example program for how to use the stand alone library (non-MoveIt! plugin) and b) a constructor that takes the URDF location on the rosparam server (e.g., "/robot_description") and that base and tip link of the chains, making use easier for KDL novices.

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