Questions tagged [ikfast]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
0 votes
0 answers
88 views

keep getting fatal error: moveit/utils/logger.hpp: No such file or directory

I keep getting this error when trying to build ikfast plugin for moveit2, any ideas why? ...
Ammar's user avatar
  • 1
0 votes
0 answers
11 views

Moveit! - How do you set goal to one or two axis (not all) so that certain IKFast types can find a solution?

I have a little bit confusion regarding the orientation goal with respect to the IKTypes in IKFast. For example there is a solver for 4DOF arm: TranslationXAxisAngle4D, TranslationYAxisAngle4D, ...
Ezeuz's user avatar
  • 1
0 votes
0 answers
36 views

OpenRAVE IKFast scipy error

I'm attempting to use the python app pyikfast to generate an analytic solution to my 6 DOF arm. I was able to successfully run the pyikfast solver on the PUMA 560 arm so I know the solver can work. It ...
MAP3's user avatar
  • 1
0 votes
0 answers
42 views

Problem about create IKfast plugin for moveit in ROS noetic and Ubuntu 20.04

According the tutorial from MoveIt website There can't install openrave on ROS noetic, so I use the docker to pull this image from this website I can install this image successly, but I don't know how ...
小舖_Siao Pu's user avatar
0 votes
0 answers
35 views

IKFast solver always returns zero for a joint value

I'm working on inverse kinematics for a ur16e robot manipulator (6DOF) attached to a mobile base. Following a tutorial, I generate an IKFast solver from the URDF file of the whole robot (the baselink ...
Krittapas Boonpasart's user avatar
0 votes
1 answer
5 views

ikfast for selfmade arm

It said >5 points required to upload a picture, so I have to draw my robot arm here. ...
user avatar
0 votes
1 answer
4 views

IKFast testik fails with 0% success rate

Hi All, I'm building a 5DOF manipulator and haven't had much luck building an IK solver. My urdf for just the manipulator and bash script (to convert to collada, trim to 5 decimals, etc) can be found ...
user avatar
0 votes
1 answer
11 views

ikfast plugin fails due to joint numbers mismatch

Hello, I'm trying to make an ikfast plugin for an SIA5. I follow the steps listed here (http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html) but no matter what I set ...
user avatar
0 votes
1 answer
52 views

Solving inverse kinematics for special configuration (IKFast)

I'm trying to solve the inverse kinematics problem for a custom made robot arm. The robot arm has a special design with the following 5 DoF in serial configuration: x-axis prismatic joint y-axis ...
user avatar
0 votes
1 answer
38 views

Connecting custom IK with MoveIt!

Hi everybody, I am recently struggling with implementation of IK for my robot arm. It's a 4DOF uArm robot (link here), with deterministic IK solutions. I'm working with ROS Kinetic and MoveIt. I have ...
user avatar
0 votes
1 answer
10 views

Use IKFast in separate package

I am attempting to use some of the definitions and functions found in the IKFast plugin package (more on this below) but am running into trouble adding the necessary dependencies in my CMakeLists.txt ...
user avatar
0 votes
1 answer
7 views

error during generating IK solution

Hi, i am using 5DOF robot and i want to generate IK fast plugin for my robot. I have already generated my robot.dae file. But when I try to get IK solution using this command below ...
user avatar
0 votes
1 answer
21 views

What is the correct way to introduce a dummy link in URDF?

I am trying to simulate my mobile robot with a 5DOF arm. I came across the IKFast tutorial which mentions that I need a dummy link in my URDF. However, I am confused as to how to introduce this dummy ...
user avatar
0 votes
1 answer
7 views

set free_index for 7-dof robot's IKFast moveit plugin generation

Hi everyone, I writing to ask a question about setting free joint index for a 7-dof robot's ikfast moveit plugin generation. I am running ROS kinetic on Ubuntu 16.04 and ...
user avatar
0 votes
1 answer
11 views

KDL IK fails in Descartes

I am using Descartes library on Ubuntu 16.04 ROS kinetic for my Denso robot. I am using IkFastMoveitStateAdapter with ...
user avatar
0 votes
2 answers
65 views

Generating an ikfast solution for 4 DOF arm

Hi, I'm trying to make a 4DOF ikfast plugin. ROS version: Kinetic Ubuntu: Xenial I'm following these instructions: http://wiki.ros.org/Industrial/Tutorials/Create_a_Fast_IK_Solution the first problem ...
user avatar
0 votes
1 answer
23 views

Generating IK solution for use in MoveIT for 5 DOF arm

I am working on a custom 5 DOF arm(image at the bottom). I have generated the URDF, the MoveIt configs etc for it. I want to have the basic IK, planning and collision detection features of MoveIt. ...
user avatar
0 votes
1 answer
61 views

MoveIt Planning and Execution Fails

Hi, I am facing some issues with MoveIt. I have a 6 DOF robot and I have created the moveit_config package for it. I have also followed this tutorial and I am able ...
user avatar
0 votes
1 answer
10 views

Best way to get FK for many different joint-states

Hello! I am trying to calculate the end-effector pose for a huge amount of different JointStates. The two ingredients to do that are my URDF and the numpy array that contains the joint angles. I am ...
user avatar
0 votes
1 answer
7 views

Load plugin for IKFast class using C++

Hello there, I am trying to load the IKFast MoveIt! plugin I already created through a C++ file using pluginlib. I am trying to do so in order to get access to the IKFast functions outside of MoveIt!. ...
user avatar
0 votes
1 answer
9 views

4 IKFast plugins with MoveIt!

I have created 4 separate IKFast plugins (in different packages) for a quadruped robot and created plugins for MoveIt!. In order to test each IKFast plugin individually, I kept ...
user avatar
0 votes
1 answer
18 views

how can i get jacobian matrix in IKfast?

hi ! i need example for jacobian matrix in ikfast and ROS jade. i need example like this page for in ikfast ? : link text Originally posted by zakizadeh on ROS Answers with karma: 217 on 2016-10-16 ...
user avatar
0 votes
1 answer
5 views

moveit: cannot move interactive marker with IKfast

Hello i´ve a problem with ikfast for moveit. i´ve gone trough all tutorials and KDL and Trac_ik are working fine in rviz. However when i´m using the 3DOF IKfast i cant set the goal position with the ...
user avatar
0 votes
1 answer
5 views

Why Descartes found just ONE joint solution out of 50 iterations?

The following is my output while running Descartes: ...
user avatar
0 votes
1 answer
6 views

Using ikfast with 4DOF fails

Hello List, to get my arm working in moveit, I try to create the ikfast code for a 4DOF with the commands: ...
user avatar
0 votes
2 answers
8 views

Ikfast computation time

The average time calculation in http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp Says milliseconds but it seems to me it should be microseconds. Shouldn'...
user avatar
0 votes
1 answer
8 views

Ikfast fails to generate solution file for 3dof arm using .dae(genereated from .wrl)

Hi all I've tried to use ikfast module(iktype=translation3d) for 3DoF simple arm. I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics/IKFast and http://answers.ros.org/...
user avatar
0 votes
1 answer
11 views

moveit IKFast plugin working with demo.launch not working with move_group_interface

I am working with 7DOF Barrett WAM and have created the IKFast plugin using URDF. I tested the plugin using demo.launch and everything works fine. I am also able to use the interactive marker. The ...
user avatar
0 votes
1 answer
9 views

pluginlib/class_loader does not load the correct class

Hi all, For background, I'm trying to create two IKFast plugins for MoveIt! The problem I have is that MoveIt! only loads and uses one of the plugins. (I have confirmed this with print statements and ...
user avatar
0 votes
1 answer
7 views

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! ...
user avatar
0 votes
2 answers
7 views

Creating ikfast solution cpp for nao

Hi, I am developing on Ubuntu 14.04 and indigo distro working with the Nao robot (I know that this ubuntu version-distro combo still has many issues, however I am stuck with it due to hardware ...
user avatar
0 votes
2 answers
17 views

Problem converting simple urdf file in collada

Hi all, I have a problem converting a very simple urdf file in collada (.dae) to use ikfast. I have a more complicated robot but I started to have this error even with a very simple urdf file: ...
user avatar
0 votes
1 answer
17 views

Generating ikfast plugin for 5 DOF robot

Hi everyone, we are currently working on an ERICC 1 robot (probably >30 years old) and need to update its control systems, etc. Considering that it is a 5 DOF robot, we are having a lot of ...
user avatar
0 votes
1 answer
16 views

Creating an Inverse Kinematics Service from MoveIt!

Hi All, I have got my hydraulic arm successfully able to be controlled from MoveIt! and IKFast as per the scenario in http://answers.ros.org/question/190808/using-moveit-to-control-the-end-of-a-...
user avatar
0 votes
1 answer
6 views

IK for this IkParameterizationType not implemented yet

Hi All, I have followed the instructions for generating an IKFast plugin located here, and have successfully generated an IKFast package using the instructions. Unfortunately the link to the method of ...
user avatar
0 votes
2 answers
3 views

openrave fails to generate IK solver

I have been following the instructions here: http://moveit.ros.org/wiki/Kinematics/IKFast for generating an ikfast moveit plugin for a ur5. I had to use a pre-made collada file from here: https://...
user avatar
0 votes
2 answers
9 views

conversion from urdf to dae fails while attempting to install ikfast for ur5

I have been following this tutorial: http://moveit.ros.org/wiki/Kinematics/IKFast while attempting to setup the ikfast solver for a ur5. I have gotten to the point where I am required to make a ...
user avatar
0 votes
1 answer
6 views

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 ...
user avatar
0 votes
1 answer
5 views

Problem with ikfast_moveit tutorial

link: http://moveit.ros.org/wiki/Kinematics/IKFast when I finish the tutorial, I try to run: "roslaunch motoman_mh5_moveit_config demo.launch" The rviz opens correctly, but then it closes ...
user avatar
0 votes
1 answer
10 views

Using IKFast with ROS

I am trying to do exactly as this other question, which is moving the nao arms using cartesian coordinates. I did follow AHormung answer and setup IKFast with MoveIt for both my nao's arms. My problem ...
user avatar
0 votes
1 answer
4 views

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 ...
user avatar
0 votes
1 answer
3 views

Trouble getting started with moveit ikfast and youbot

Hi all, I'm trying to get simulated and broadcast trajectory topics using my ikfast plugin on the youbot. I'm on groovy and Ubuntu 12.04 64 bit, for reference. I am trying to follow this tutorial: ...
user avatar
0 votes
2 answers
22 views

Difficulty using ikfast generator, "need 6 joints error" with Kuka Youbot

Hi, I'm new to ikfast and I'm trying to understand it. I've been following the documentation here: http://moveit.ros.org/wiki/Kinematics/IKFast I'm using a Kuka youbot urdf file which I converted to ...
user avatar
0 votes
1 answer
2 views

what is the correct frame to give ik goals in?

Hi, I have been trying to use using ROS Groovy and the IKfast solver on Ubuntu 12.10, to generate 6DOF IK solutions, and have had some success, in that the robot does move the arm more or less to a ...
user avatar
0 votes
1 answer
3 views

motoman stack on ros industrial

I am trying to install the motoman stack from ros industrial on a fuerte installation. When I compile (with a rosmake), I receive the error "Cannot find required resource: warehouse_ros". I ...
user avatar
0 votes
1 answer
2 views

Using moveit kinematics plugin without moveit (undefined symbol for urdf)

I have IKFast MoveIt kinematics plugin created according to this tutorial. It works fine within MoveIt framework, however I would like to use it as a separate kinematics solver with service/topic ...
user avatar
0 votes
1 answer
7 views

Ikfastdemo Does Not Compile

I'm attempting to create a fast inverse kinematics solver using OpenRAVE's ikfast, following the tutorial here: http://ros.org/wiki/Industrial/Tutorials/Create_a_Fast_IK_Solution All is well until I ...
user avatar
0 votes
1 answer
15 views

Custom kinematic plugins under moveit

I know I'm jumping the gun a bit, but I was wondering if anyone's had any experience integrating custom inverse-kinematics plugins (e.g. ikfast) with moveit. I've created an ikfast solver for my robot,...
user avatar
0 votes
1 answer
25 views

OpenRave IKFast For >6 DOF Redundant Manipulator

I'm working with a robot arm with 7 degrees of freedom, but as I understand it IKFast only solves up to 6 dof. I can set a free joint using the "--freeindex" argument and am able to make the ...
user avatar