Extracting Data From MoveIt

asked 2018-02-22 22:55:18 -0600

lagankapoor gravatar image

Hi ROS community ,

i am beginner in ROS and i create my own URDF from SolidWorks using a SolidWorks to URDF Exporter . I configure this Arm with MoveIt and its working Well with MoveIt . But i want to know the parameters like FK(forward kinematics ), IK(Inverse kinematics )and some other parameters related to my robot from MoveIt details . I search on internet about it but i can't get any information about this so i came here if anyone knows so help me with this information .i attached the Image of my 3 D.O.F Robotic arm 3 D.O.F Robot

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1

What sort of details are you referring to? The transformation matrices?

gvdhoorn gravatar image gvdhoorn  ( 2018-02-23 03:06:02 -0600 )edit

yes, sir i need FK, IK and dynamics matrices and one more question that i not add above may u tell me how i make my robot in standing position ?

lagankapoor gravatar image lagankapoor  ( 2018-02-23 03:33:49 -0600 )edit
1

i need FK, IK [..] matrices

I'm not sure whether that is possible. MoveIt hosts a nr of plugins that contain the IK/FK matrices, but they are not retrievable through any service/topic or API call IIRC (but do look at the MoveIt API docs).

gvdhoorn gravatar image gvdhoorn  ( 2018-02-23 03:37:41 -0600 )edit

As to dynamics: MoveIt in its current implementation does not do anything with dynamics, so I don't believe it has anything to offer there.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-23 03:38:49 -0600 )edit

i checked MoveIt API docs but there no such information that's the reason i post the question here and one more question i have robot urdf file and my link is laying on ground and i want to make it normal to the ground how i can do may u help me sir ?

lagankapoor gravatar image lagankapoor  ( 2018-02-23 03:53:09 -0600 )edit
1

That would seem to be a different question, which should be posted in a separate post.

Try to avoid asking multiple questions in one post, it doesn't work too well on ROS Answers.

gvdhoorn gravatar image gvdhoorn  ( 2018-02-23 04:03:31 -0600 )edit

Thanks Sir i will ask it as separate question

lagankapoor gravatar image lagankapoor  ( 2018-02-23 04:15:33 -0600 )edit
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