README.md

Tesseract Trac-IK plugin

This is a Trac-IK plugin for tesseract_kinematics.

This plugin is not included in the main Tesseract repository, as trac_ik_lib is ROS-dependent.

Usage

• Clone this repo to the src folder of your project.
• Add tesseract_trac_ik_trac-ik_factory to the search_libraries of your robot's kinematic_plugins.yml.
• Add Trac-IK to the inv_kin_plugins of your robot manipulator:

kinematic_plugins:
  search_libraries:
    - tesseract_trac_ik_trac-ik_factory
  inv_kin_plugins:
    manipulator:
      TracIKInvKinChain:
        class: TracIKInvKinChainFactory
        config:
          base_link: base
          tip_link: tool0

Parameters

• epsilon: Maximum deviation between target pose and IK solution.
• max_time: Maximum calculation time for Distance, Manip1 and Manip2 solve types.
• solve_type: (Speed/Distance/Manip1/Manip2) Speed: return first feasible solution, Distance: return solution closest to seed, Manip1/Manip2: use one of two manipulabilty metrics to find the best solution.

Parameter defaults

      TracIKInvKinChain:
        class: TracIKInvKinChainFactory
        config:
          base_link: base
          tip_link: tool0
          params:
              epsilon: 1e-5
              max_time: 0.005
              solve_type: Speed

Future work

The trac_ik_lib dependency should be made ROS-agnostic, so this plugin can be included in the tesseract repo.