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New MoveIt! Inverse Kinematics Plugin

kinetic

#1

I started creating a kinematics plugin for a new analytical inverse kinematic library [1] implemented by @Jmeyer. At the moment it seems to be working, but way to slow [2]. It only does forward/inverse kinematics and you have to specify the geometric parameters in the kinematics.yalm config file.

Overall, I had no idea what I was doing. I copied the template from the existing srv_kinematics_plugin [3] and added functions from another package [4] to interface with the inverse kinematics solver.
You can follow the progress by going through the issues on Github [5].

If anyone is interested in using this plugin, feel free to create issues or pull requests.

Thanks, @gavanderhoorn for suggesting this plugin [6].

[1], [2], [3], [4], [5], [6]

(I think it could be interesting to add some MoveIt! tutorials focussed on writing plugins like this an others. But that’s a discussion for another topic maybe…)