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using move_group for ik solver #11

Open k-okada opened 10 years ago

k-okada commented 10 years ago

We can use moveit_msgs/msg/{PositionIKRequest.msg,KinematicSolverInfo.msg} instaed of msg from arm_navigation @aginika

davetcoleman commented 10 years ago

@isucan are there any other nodes that wrap the IK solver functionality without launch a move_group capability? thanks!

isucan commented 10 years ago

Nope, there are not.

trainman419 commented 10 years ago

I think the right solution here is to reimplement pr2_kinematics on top of MoveIt, as per: https://github.com/PR2/pr2_kinematics/issues/2 .

davetcoleman commented 10 years ago

So you mean reimplement a node that wrap's MoveIt!'s IK solver functionality without requiring to launch all of MoveIt!?

One suggestion I offered to @k-okada is just launch move_group with only one capability:

<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <param name="capabilities" value="move_group/MoveGroupKinematicsService" />
</node>
trainman419 commented 10 years ago

As a compatibility layer so that nodes developed against the old API continue to work, yes.

(I believe that node used to do what you're looking for, and reviving it would be a great service to the PR2 community)

davetcoleman commented 10 years ago

Actually I don't work with the PR2, @k-okada was just asking me because I know MoveIt!

(so not volunteering)

UltronDestroyer commented 10 years ago

pr2_kinematics has now been re-implemented ontop of MoveIt.https://github.com/PR2/pr2_kinematics/commit/de17caa9f36a76a053ac8348c106522b2de443f4. pr2_apps has been re-written to use MoveIt as the backend. #12 discusses changes and testing and #13 is the one that is planning to be merged.

davetcoleman commented 10 years ago

+1 to doing this!