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ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)
Apache License 2.0
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Use IK from RobotModel #22

Open simonschmeisser opened 4 years ago

simonschmeisser commented 4 years ago

Currently TracIK is used but for most industrial robots analytical solvers exist (opw, ur_kinematics, ikFast, ...). Those are one hand several orders of magnitude faster and more importantly have a higher success ratio.

jrgnicho commented 4 years ago

TracIK was chosen because it allows evaluating unconstrained goals with relative ease

kokkalisko commented 3 years ago

@jrgnicho I would like to adjust the planner to use opw_kinematics. I do not understand why TRAC-IK was preferred. Can you provide some additional info? Do you mean that this inverse kinematics solver was preferred because MoveGroup IK imposes some precision criteria?