Migrate to opw_kinematics for all supported robots

ros-industrial / fanuc

ROS-Industrial Fanuc support (http://wiki.ros.org/fanuc)

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Migrate to opw_kinematics for all supported robots #245

Open gavanderhoorn opened 6 years ago

gavanderhoorn commented 6 years ago

Instead of IKFast use Jmeyer1292/opw_kinematics for all robot models and variants we support.

Current status:

[ ] fanuc_cr35ia_support
[ ] fanuc_cr7ia_support
[ ] fanuc_lrmate200i_support
[x] fanuc_lrmate200ib_support
[x] fanuc_lrmate200ic_support (partial)
[ ] fanuc_lrmate200id_support
[x] fanuc_m10ia_support
[x] fanuc_m16ib_support
[x] fanuc_m20ia_support
[x] fanuc_m20ib_support
[ ] fanuc_m430ia_support
[x] fanuc_m6ib_support (partial)
[ ] fanuc_m710ic_support
[ ] fanuc_m900ia_support
[ ] fanuc_m900ib_support
[ ] fanuc_r1000ia_support

JeroenDM commented 4 years ago

I went ahead and create the pull request (#284 ) to add the parameters to the support packages.

In going forward, it appears to me that we have three design goals.

Make the parameters available in a generic config file for non-MoveIt use.
Make it easy for users to run the setup assistant to create a MoveIt config. Ideally, just select the opw_kinematics_plugin where the setup assistant figures out the details.
Keep everything easy to maintain.

The pull request addresses the first point.

gavanderhoorn commented 4 years ago

With #284 merged, we're finally making some progress here.

Thanks @simonschmeisser and @JeroenDM for pushing this forward.

JeroenDM commented 4 years ago

I was kind of surprised/embarrassed to see when this issue was opened (aka when I started working on the plugin). I did not work particularly fast.

I'm happy to see to some progress too :)

gavanderhoorn commented 4 years ago

moveit_opw_kinematics_plugin has been synced to the public repositories, so we can start using it in released packages as well.

Thanks again @JeroenDM for the work :+1:

We'll keep this open until all support packages have OPW parameters and we've switched the MoveIt configurations to use the OPW plugin.

bourumir-wyngs commented 2 months ago

This for sure will be amazing. I am working on experimental automated OPW parameter extraction from URDF. The biggest problem so far, we have not enough robots with both verified URDF and verified OPW parameters to build a descent testing suite.

simonschmeisser commented 2 months ago

You can find more examples in kuka-experimental, abb, doosan ... Im some cases only in our isys-vision forks

Also the self check should tell you if it works ( comparig forward kinematics via urdf and via opw parameters for two poses)