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Jmeyer1292 / hybrid_planning_experiments

Sampler + Optimizing Motion Planning Demonstrations
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how to use this package with KUKA R870 and UR5 robot #9

Open lakshmip001 opened 5 years ago

lakshmip001 commented 5 years ago

I see the kinematics parameters, forward kinematics and inverse kinematics are defined for ABB robot. Do I need to change kinematics parameters file, abb2400_ikfast_tests.ccp, abb_irb2400_manipulator_ikfast_solver.cpp for calculating inverse kinematics and forward kinematics for Universal Robot UR5 using this package . Kindly please help me how to apply this package with universal robot UR5.

JeroenDM commented 5 years ago

I did not write this code, but I think I can answer your question at least partly.

This package uses opw_kinematics to calculate the inverse kinematics, as you can see in kinematic_interface.cpp inside the descartes light package. The input parameters for this calculation are specified in abb_4600_kinematic_params.h inside the hybrid_planning_common package.

This means that it should be possible to change the parameters to represent another robot. (And add a support and moveit_config package for that robot.) Unfortunately the UR5 has a kinematic design that is not supported by opw_kinematics.

If you want to use descartes planner with the UR5, ROS-industrial has a nice demo/tutorial available on using descartes with the UR5.