Open gavanderhoorn opened 6 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.
The pull request addresses the first point.
With #284 merged, we're finally making some progress here.
Thanks @simonschmeisser and @JeroenDM for pushing this forward.
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 :)
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.
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.
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)
Instead of IKFast use Jmeyer1292/opw_kinematics for all robot models and variants we support.
Current status: