The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Given that denso vs060 package already comes with ikfast plugins, you could try swapping kinematics setting accordingly, something like the following in vs060_moveit_config/config/kinematics.yaml:
- kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver: vs060A1_AV6_NNN_NNN_manipulator_kinematics/IKFastKinematicsPlugin
I haven't tested so let me know how this works.
| | 2 | No.2 Revision |
Given that denso vs060 package already comes with ikfast plugins, you could try swapping kinematics setting accordingly, something like the following in vs060_moveit_config/config/kinematics.yaml:
- kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+ kinematics_solver: vs060A1_AV6_NNN_NNN_manipulator_kinematics/IKFastKinematicsPlugin
I haven't tested so let me know how this works.
UPDATE) I'm getting to understand your situation better now that I've taken a look at your code. Maybe you should describe all the commands you use to run all the processes (by editing your original post), since I couldn't figure out how you run your IKFast plugin nor how you pass setpoint to the controller.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.