Questions tagged [ik]

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Getting preferred (elbow-up/down) IK solution in PyKDL

I am using PyKDL to compute IK solutions for the UR3e arm. However, as we know, multiple solutions are available for IK of the 6-DoF arm, and I need to identify the preferred one. Industrial arms have ...
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UR5e + ROS Melodic + MoveIt best setup for Inverse Kinematics

Hi everyone, I am using the robot to open a drawer through a Python program, and for doing this I am using a lot of points for the eef to reach every time using IK of MoveIt. But mostly of the times ...
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MoveIt Difficulties with end-effector Pose transformation for humanoid robot

ROS Distro: Melodic OS: Ubuntu 18.04 MoveIt compiled from sources OpenManipulator-P + RH8D Problem Description: We have two different Ik_systems (one ROS/MoveIt, one custom) for our humanoid robot. We'...
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Trac IK cannot computeCartesian path at all

I decided to give Trac IK a shot after urkinematics solver was too hard to implement on 2 ur10 robots. It's "fine" I guess, aside from not being able to find IK once in a while but it is ...
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MoveIt - Python interface - TRAC-IK -How to request closest IK solution to current joint configuration?

Hi! I am trying to use MoveIt's python interface to plan cartesian trajectories with a UR3e robot using ROS-Melodic. I have set up everything and it works fine. I am using it with the ...
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Multiple kinematics solver for the manipulator

Hi all, below you can find my kinematics.yaml file. Since my robot only has 5 DoF and the IK solver has sometimes has probelms with finding solutions. So the position_only_ik parameter is set to true. ...
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Incorrect/unexpected behavior from Trac-IK with calls to moveit::core::RobotState::setFromIK

I just switched to Melodic from Kinetic (yay!) and some of our existing code base started generating infeasible trajectories (nooo!). Upon further inspection it seems that RobotState's setFromIK was ...
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How to use tf::poseMsgToEigen

Hi, I'm kind of confused on how I should use tf::poseMsgToEigen. I have ...
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1 answer
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How to set link(end_effector) pose?

Hi, I'm working with the ur10 model and I'm trying to get a way of controlling it by setting a pose for the end-effector. However I have no clue on how to do it. I tried the tutorial of movit ...
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How to avoid the axis jumping when the orientation is constrainted

Hi Now the end-effector's orientation constraints is implemented in my offline simulation in Moveit. It can be seen that the orientation of end-effector is keeping horizontal to the ground. But during ...
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2 answers
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[MoveIt!] Goal tolerance for inverse kinematics

Hi there! I implemented a small program to test for a sequence of positions if a solution for inverse kinematics exists. I used some of the code from the tutorial. Now, I would like to set the ...
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moveit visual servoing

I've been working with moveit for the past two weeks. However, I am trying to do visual servoing with my robot, but I cannot find any example about moveit with visual servoing. I know that using ...
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Trajectory Planning not working reliably

I've been trying to get the Trac-IK to work, since the default solver didn't work very well for me. But now that I'm using Trac-IK, there is no real improvement. It only finds a solution 1 in 5 times, ...
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1 answer
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MoveIt! - Markers missing on custom Robot, IK-Planning not working

Hey there, I've been trying to get my MoveIt-project to work similar to the pr2 demo, but I'm unable to get the markers to appear. I have seen and read, that other users had issues with this, too, and ...
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Translating Cartesian Coordinates from Hand frame to World Frame: ROS & Baxter Help

Hi, So I'm working with the baxter robot and using the ROS workspace. The baxter has a camera attached to its arm, from which I can read x,y,z coordinates of certain object, relative to the hand frame....
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how to write an IK plugin in moveit

I want to write a IK plugin in moveit for my own robot just like PR2. I read the IK plugin of PR2 but didn't know how to write it exactly. I wonder what function I should write to connent the IK to ...
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Getting the joint values of a computed path to a pose goal

Hi everybody, I'm using moveit with an UR5. The planner I use is the RRTConnectkConfigDefault-planner. The goal for the planner is a pose. My question is now: Is there a way to retrieve the joint ...
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Why does my ikfast solver work outisde of MoveIt! but not within?

Hi, I'm steadily making progress with my project to control a 3DOF arm but there is this problem that been annoying me for the last couple of days. I'm trying to make a ikfast plugin for MoveIt! ...
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KDL IKSolver (Only for Destination Orientation)

I want to use KDL for inverse kinematics calculations of 5 axis CNC machines. 5 axis CNC machines has 2 rotational axis and 3 translational axes. I am going to define kinematics chain in KDL library ...
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Where to put mobile platform inverse kinematics

Hello, I am putting a place a mobile robot with mecanum wheels. For my robot to be driven I would like to be able to specify a desired velocity to the platform (a twist) and have the robot decide ...
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1 answer
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IK Solver for a robot

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How can I use the iksolver.cpp

I generated the file to calculate the inverseKinematics with IKFast. How can I use this file, to solve the IK from a cpp in ROS? I can not find anything about that. I'm using the solver ...
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2 answers
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ROS Answers SE migration: IK with KDL

Hi, everyone! I have a similar problem and I solved it like described in this topic ros-users. Program works fine, but when I try calculate joints values more different than inital values, IK solver ...
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1 answer
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Moving arm of the Nao robot

Hi folk, I am using the current Nao-ROS stack (fuerte). I want to control the Nao in an abstract way. Now, I am trying to send commands to the nao_controller to move the left arm from the Nao. I found ...
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Nao inverse kinematics

Hi What options do I have in ROS for controlling a Nao robots body parts using inverse kinematics (e.g. its arms)? Or would I need to write a wrapper so that ROS can use Naoqi's inverse kinematics ...
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1 answer
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Is there any docs about the principle of IK provided by KDL?

recently i'm using the inverse kinematics(IK) service provided by KDL. it works great! but i want to know its principles. is there any docs, papers about this? thanks in advance. Originally posted by ...
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Got IK error 33 after generating IK solver using planning description configuration wizard

Hi All, I recently generated the ik solver for my own 6 dofs robot arm using planning description configuration wizard. But when I tried to calculate the ik solution for a definitely feasible pose, I ...
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1 answer
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why GetConstraintAwarePositionIK return a failure so quickly?

when using GetConstraintAwarePositionIK, i set the timeout to 5 seconds. but sometimes it returnes an error code "NO_IK_SOLUTION" very very quickly(less than 1 seconds). why does this happen?...
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1 answer
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IK succeed for constraint-aware but fail for non-aware

i'm following this tutorial http://ros.org/wiki/pr2_kinematics/Tutorials/Tutorial%204 to do the inverse kinematics for my robot arm. but for the same goal position, the constraint_aware_ik succeed to ...
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1 answer
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Problem with Rviz with Planning Description Configuration Wizard

Hi everybody, I would like to create an interface to control a 6 dof arm. I would like at least something that enables me to reach a goal position by entering the coordinates (with an IK solver). I'm ...
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2 answers
32 views

kdl Inverse Kinematics Solver

Hi, We are trying to solve inverse kinematics with the kdl lib, which is included in ROS. We followed the instruction from the homepage of kdl and initialized the solvers. This working very well, but: ...
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2 answers
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PR2 Pick and Place Crashes in simple_pick_and_place_example.py

Hi I'm new to ROS, I've downloaded and installed Electric, and now I'm trying to get the PR2 to pick up and place objects in the Gazebo simulator. I'm interested in writing my own pick-and-place ...
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1 answer
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Arm_navigation/kinematics for simple arms

Hi everybody, I'm currently working with the arm_navigation suite in combination with a 7 DOF manipulator. Now, I would like to make it work with a much simpler manipulator, in my case with 2 DOF. ...
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Could IK solver called by arm_navigation auto-generated file work for 5 DOF manipulator

Hi, all, We have a 5 DOF manipulator, the ompl planner keeps throwing out "IK Solution not found, IK returned with error_code: -31", when I pass pose goal to the navigation server. I doubt ...
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1 answer
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ik service call fails

I'm doing a little IK work with a 7-DOF arm using ROS' IK service calls but with little luck. I want the ability to use either the collision free IK or just the regular IK service. I can connect to ...
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1 answer
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Is a dummy URDF joint for use with kdl kinematic chains recommended for creating a tool point?

(Edited to refer more specifically to URDF with KDL) I'm using IK from KDL in combination with URDF models recently and noticed that in trying to solve for a tool point I seem to need to have a dummy (...
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Will urdf_tools (with its arm_kinematics package) be promoted to a first-class stack?

I've recently started to use the urdf_tools stack for the arm_kinmatics package. I'm wondering if this is in line to become a first-class stack that will be placed in the repositories. Is urdf_tools (...
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1 answer
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combining launch files doesn't give same behavior: order / timing of ik solver

I'm trying to launch nodes in one combined launch file. If I launch nodes separately using the two files below, calls to the IK services work fine (i.e. call the second node's service ik_trajectory, ...
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5 answers
34 views

Openrave ikfast as an ik plugin for motion planning

Hi, all, I want to make use of the strength of Openrave to get the analytic solutions for our 5dof manipulator. I know in orrosplanning package, ik_openrave.py provide a service /GetPositionIK. But I ...
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Multiple solutions from IK solver?

Is it possible to obtain multiple IK solutions for all the joints of an arm from the IK Solver (pr2_right_arm_kinematics/get_ik) for one specific pose of a link (i.e. r_wrist_roll_link)? Originally ...
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2 answers
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OpenRAVE IK fails to find a solution on Katana 6M90a arm

This is a follow-up question to this one. I can now start the IK service, but it doesn't find a solution. Steps to reproduce: ...
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How to use OpenRAVE's IK with a 5DoF manipulator?

After successfully converting my URDF file to COLLADA, I can start the IK service like this: ...
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