Investigate using IKFast as the IK engine for MoveIt

[lit-af]

Seems to be the fastest lib available. https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html

[lit-af]

I did some testing today. It's pretty simple once the docker install has the proper permissions.

• Adding permissions to $USER: https://stackoverflow.com/questions/48957195/how-to-fix-docker-got-permission-denied-issue
  • A reboot is required, a simple logout/login doesn't work.
• To run the ikfast_plugin_generator:

  rosrun moveit_kinematics auto_create_ikfast_moveit_plugin.sh --iktype Transform6D $MYROBOT_NAME.urdf <planning_group_name> <base_link> <eef_link>

  

[lit-af]

Don't forget to edit the kinematics.yaml file. https://ros-planning.github.io/moveit_tutorials/doc/ikfast/ikfast_tutorial.html#usage

[lit-af]

Add the previous comments to the package documentation