Closed fmauch closed 10 months ago
Update: We've updated the package so that it supports all 7 robot models, but the other two points remain valid in my opinion.
Just as a quick update, I opened a PR to fix the crash in #476 (I could also open a new MR directly)
For us the analytical IK is valuable as it tends to be about a factor 1000 faster than the numerical ones. Since we can easily have 50 000 IK requests in our bin picking setups this adds up
Currently, the main thing holding us back from doing a binary release is the ur_kinematics plugin. The current identified problems are:
I am not sure what the scope / impact of this would be. With many alternative kinematics plugins available, I'm asking myself whether it would be worthwile addressing this. For the sake of no longer holding things back I would currently vote for merging melodic-devel-staging into melodic-devel without fixing that package and ignoring it in the first melodic/noetic release.
If you think that it would be beneficial having this available or you even would like to contribute to fixing this, please let us know.