Is it possible to perform inverse kinematics using MoveIt! plugin without defining dynamic parameters at urdf file?

asked 2017-01-10 23:25:15 -0600

protonauta
1 ●1 ●2 ●1

Given that (in theory) kinematics (forward o inverse) doesn't care about dynamic parameters such as mass or inertial matrix /Ixx, Izxy, etc.( related to links and so on. Can I perform inverse kinematics using move it! plugin in Rviz without defining dynamic parameters in the URDF file?

edit retag flag offensive close merge delete

add a comment

0

answered 2017-01-12 09:55:17 -0600

jrgnicho

486 ●3 ●12 ●14 http://rosindustrial.org/

The URDF format doesn't require the dynamic parameters to be specified (see here). If you already have a moveit_config package created with the moveit setup assistant from the URDF then you can run the "move_group.launch" file there which provides a number of services. One such service is the "/compute_ik" which returns a joint solution for your robot.