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Adding constrained_ik to MoveIt kinematics

Description: Covers the steps to expose constrained_ik as an IK solver for MoveIt

Keywords: industrial, moveit, kinematics

Tutorial Level: INTERMEDIATE

In this tutorial we will learn to use the constrained_ik IK solver in MoveIt

Add IK Solver to MoveIt Config File

Run Your Planner

Explicit Example Code

(I wish every tutorial had this for clarity)

cd ~/ros
mkdir -p catkin_ws/src
cd catkin_ws
cd src
ln -s ~/ros/abb/ abb
ln -s ~/ros/industrial_moveit/ industrial_moveit
cd ~/ros/catkin_ws
source devel/setup.bash
roscd irb_2400_moveit_config/config
gedit kinematics.yaml

Edit the kinematics_solver line to read kinematics_solver: constrained_ik/ConstrainedIKPlugin. The whole file should look like this:

  kinematics_solver: constrained_ik/ConstrainedIKPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
  kinematics_solver_attempts: 3

Run the demo code to test the kinematics

roslaunch irb_2400_moveit_config demo.launch 

2019-06-15 12:44