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RethinkRobotics-opensource / sns_ik

Saturation in the Null Space (SNS) Inverse Kinematic Library
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Working plugin for MoveIt on Noetic? #110

Open pfucile opened 1 year ago

pfucile commented 1 year ago

I want to create a working SNS IK Plugin for MoveIt on ROS noetic to have it working on my sawyer robot. I can't seem to figure out from the sns-ik-kinematics-plugin subfolder, as all the CmakeList and package.xml files (for all the branches) do not contain the correct information. Can you help me with that?

AdrianZw commented 1 year ago

Unfortunately, at the moment we did not implement an SNS IK Plugin for MoveIt, currently in the sns-ik-kinematics-plugin subfolder, there are only placeholders. Help would be very much appreciated!

CMakeList.txt and package.xml should be analogous to the one of the trac_ik plugin, see https://bitbucket.org/traclabs/trac_ik/src/master/trac_ik_kinematics_plugin/.

You shouldn't need the dependencies to nlopt and you would need to replace trac_ik_lib with sns_ik_lib.

If you like, you can fork our repository and create already a pull request, so I can see what you already have implemented so far. Then it is easier to collaborate and have a working implementation soon. What do you think?