opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics. The package calculates closed form inverse kinematic solutions for typical industrial robots and was created by Jmeyer1292. A MoveIt! plugin for this package could be an alternative for the ikfast plugin.

See issues the follow the implementation process. (Where I mostly have conversations with myself.)

The general template is copied from the moveit srv_kinematics_plugin. Some functions are directly copied from the package descartes_opw_model.

To use this plugin with another robot, clone this package inside your workspace:

cd catkin_ws/src/
git clone --recursive https://github.com/JeroenDM/moveit_opw_kinematics_plugin.git

And also add a moveit configuration for a compatible robot. You have to update the config/kinematics.yaml file. It looks like this for a Kuka kr6r700:

manipulator:
  kinematics_solver: moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin
  opw_kinematics_geometric_parameters:
    a1:  0.025
    a2: -0.035
    b:   0.000
    c1:  0.400
    c2:  0.315
    c3:  0.365
    c4:  0.080
  opw_kinematics_joint_offsets: [0.0, -1.57079632679, 0, 0, 0, 0]
  opw_kinematics_joint_sign_corrections: [-1, 1, 1, -1, 1, -1]