I have a working python3.8 / ros noetic version

[jstmn]

Hi there,

I have updated the code to run on Ubuntu 20 / ros-noetic / python3.8, the updated version is saved here: https://github.com/jstmn/relaxed_ik-ubuntu20/tree/dev-python38-noetic

There were a number of fixes I needed to make, including updating the python version to 3.8, fixing some julia bugs with Knet, and updating the ros joint_state_publisher, among others.

I'm happy to help add my version to this repo, let me know if that is something y'all (the maintainers) are interested in

• Jeremy

[yepw]

Hi @jstmn thank you for the note! Currently, most of the maintenance efforts are on the new relaxed_ik_core repo, in which RelaxedIK was written using Rust and can run faster. The relaxed_ik_core repo also runs on Ubuntu 20 / ros-noetic.

[jstmn]

I see, thanks for the heads up. Do you know if stampede works with relaxed_ik_core?

[jstmn]

Also, may I suggest updating the readme for this repository so that others don't need to make the same fixes that I did?

[yepw]

@jstmn Yes, I will change the readme to better link to relaxed_ik_core. I don't think relaxed_ik_core works with stampede. For stampede, you can take a look at the stampede repo and the nylx repo.

[jstmn]

Sounds good. I looked through the nylx repository but didn't see any examples for doing pathwise-IK, does this functionality exist there yet?

[yepw]

I just realized that Stampede is only mentioned as future work in nylx' readme, so it's probably not implemented yet. I have never used nylx myself, sorry for the misleading message.

[jstmn]

Gotcha, no worries