diff --git a/ur_kinematics/CMakeLists.txt b/ur_kinematics/CMakeLists.txt
index 014cd44c87f263dab102d8143340022106b8c262..e6e5b4097b4b7258971a5f7ad05f2932654111d6 100644
--- a/ur_kinematics/CMakeLists.txt
+++ b/ur_kinematics/CMakeLists.txt
@@ -82,8 +82,6 @@ set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PA
target_link_libraries(ur10_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
- ${moveit_ros_planning_LIBRARIES}
- /opt/ros/hydro/lib/libmoveit_kdl_kinematics_plugin.so
ur10_kin)
add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
@@ -91,8 +89,6 @@ set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARA
target_link_libraries(ur5_moveit_plugin
${catkin_LIBRARIES}
${Boost_LIBRARIES}
- ${moveit_ros_planning_LIBRARIES}
- /opt/ros/hydro/lib/libmoveit_kdl_kinematics_plugin.so
ur5_kin)
## Declare a cpp executable
diff --git a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
index 3b9b3f2cd20ae6a3cfea79f1727847f7278a5ac5..bbcc96aeba48ecb131d8a31cba0f084c2df04e70 100644
--- a/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
+++ b/ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h
@@ -1,38 +1,283 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2014, Georgia Tech
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of Georgia Tech nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+/* Author: Kelsey Hawkins */
+
+/* Based on orignal source from Willow Garage. License copied below */
+
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2012, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */
+
+#ifndef UR_KINEMATICS_PLUGIN_
+#define UR_KINEMATICS_PLUGIN_
+
+// ROS
#include <ros/ros.h>
+#include <random_numbers/random_numbers.h>
+
+// System
+#include <boost/shared_ptr.hpp>
+
+// ROS msgs
+#include <geometry_msgs/PoseStamped.h>
+#include <moveit_msgs/GetPositionFK.h>
+#include <moveit_msgs/GetPositionIK.h>
+#include <moveit_msgs/GetKinematicSolverInfo.h>
+#include <moveit_msgs/MoveItErrorCodes.h>
+
+// KDL
+#include <kdl/jntarray.hpp>
+#include <kdl/chainiksolvervel_pinv.hpp>
+#include <kdl/chainiksolverpos_nr_jl.hpp>
+#include <kdl/chainfksolverpos_recursive.hpp>
+#include <moveit/kdl_kinematics_plugin/chainiksolver_pos_nr_jl_mimic.hpp>
+#include <moveit/kdl_kinematics_plugin/chainiksolver_vel_pinv_mimic.hpp>
+#include <moveit/kdl_kinematics_plugin/joint_mimic.hpp>
+
+// MoveIt!
#include <moveit/kinematics_base/kinematics_base.h>
-#include <moveit_msgs/KinematicSolverInfo.h>
-#include <moveit/kdl_kinematics_plugin/kdl_kinematics_plugin.h>
+#include <moveit/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
namespace ur_kinematics
{
-class URKinematicsPlugin : public kdl_kinematics_plugin::KDLKinematicsPlugin
-{
-public:
-
/**
-* @brief Plugin-able interface to the ur kinematics
+* @brief Specific implementation of kinematics using KDL. This version can be used with any robot.
+*/
+ class URKinematicsPlugin : public kinematics::KinematicsBase
+ {
+ public:
+
+ /**
+* @brief Default constructor
*/
- URKinematicsPlugin();
+ URKinematicsPlugin();
- virtual bool initialize(const std::string& robot_description,
- const std::string& group_name,
- const std::string& base_frame,
- const std::string& tip_frame,
- double search_discretization);
+ virtual bool getPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
-protected:
+ virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
+
+ virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ const std::vector<double> &consistency_limits,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
+
+ virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
+
+ virtual bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ const std::vector<double> &consistency_limits,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
+
+ virtual bool getPositionFK(const std::vector<std::string> &link_names,
+ const std::vector<double> &joint_angles,
+ std::vector<geometry_msgs::Pose> &poses) const;
+
+ virtual bool initialize(const std::string &robot_description,
+ const std::string &group_name,
+ const std::string &base_name,
+ const std::string &tip_name,
+ double search_discretization);
+
+ /**
+* @brief Return all the joint names in the order they are used internally
+*/
+ const std::vector<std::string>& getJointNames() const;
+
+ /**
+* @brief Return all the link names in the order they are represented internally
+*/
+ const std::vector<std::string>& getLinkNames() const;
+
+ protected:
+
+ /**
+* @brief Given a desired pose of the end-effector, search for the joint angles required to reach it.
+* This particular method is intended for "searching" for a solutions by stepping through the redundancy
+* (or other numerical routines).
+* @param ik_pose the desired pose of the link
+* @param ik_seed_state an initial guess solution for the inverse kinematics
+* @param timeout The amount of time (in seconds) available to the solver
+* @param solution the solution vector
+* @param solution_callback A callback solution for the IK solution
+* @param error_code an error code that encodes the reason for failure or success
+* @param check_consistency Set to true if consistency check needs to be performed
+* @param redundancy The index of the redundant joint
+* @param consistency_limit The returned solutuion will contain a value for the redundant joint in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit]
+* @return True if a valid solution was found, false otherwise
+*/
+ bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const std::vector<double> &consistency_limits,
+ const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
- bool searchPositionIK(const geometry_msgs::Pose &ik_pose,
- const std::vector<double> &ik_seed_state,
- double timeout,
- std::vector<double> &solution,
- const IKCallbackFn &solution_callback,
- moveit_msgs::MoveItErrorCodes &error_code,
- const std::vector<double> &consistency_limits,
- const kinematics::KinematicsQueryOptions &options = kinematics::KinematicsQueryOptions()) const;
+ virtual bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);
- std::vector<double> ik_weights_;
+ private:
-};
+ bool timedOut(const ros::WallTime &start_time, double duration) const;
+
+
+ /** @brief Check whether the solution lies within the consistency limit of the seed state
+* @param seed_state Seed state
+* @param redundancy Index of the redundant joint within the chain
+* @param consistency_limit The returned state for redundant joint should be in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit]
+* @param solution solution configuration
+* @return true if check succeeds
+*/
+ bool checkConsistency(const KDL::JntArray& seed_state,
+ const std::vector<double> &consistency_limit,
+ const KDL::JntArray& solution) const;
+
+ int getJointIndex(const std::string &name) const;
+
+ int getKDLSegmentIndex(const std::string &name) const;
+
+ void getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const;
+
+ /** @brief Get a random configuration within joint limits close to the seed state
+* @param seed_state Seed state
+* @param redundancy Index of the redundant joint within the chain
+* @param consistency_limit The returned state will contain a value for the redundant joint in the range [seed_state(redundancy_limit)-consistency_limit,seed_state(redundancy_limit)+consistency_limit]
+* @param jnt_array Returned random configuration
+*/
+ void getRandomConfiguration(const KDL::JntArray& seed_state,
+ const std::vector<double> &consistency_limits,
+ KDL::JntArray &jnt_array,
+ bool lock_redundancy) const;
+
+ bool isRedundantJoint(unsigned int index) const;
+
+ bool active_; /** Internal variable that indicates whether solvers are configured and ready */
+
+ moveit_msgs::KinematicSolverInfo ik_chain_info_; /** Stores information for the inverse kinematics solver */
+
+ moveit_msgs::KinematicSolverInfo fk_chain_info_; /** Store information for the forward kinematics solver */
+
+ KDL::Chain kdl_chain_;
+
+ unsigned int dimension_; /** Dimension of the group */
+
+ KDL::JntArray joint_min_, joint_max_; /** Joint limits */
+
+ mutable random_numbers::RandomNumberGenerator random_number_generator_;
+
+ robot_model::RobotModelPtr robot_model_;
+
+ robot_state::RobotStatePtr state_, state_2_;
+
+ int num_possible_redundant_joints_;
+ std::vector<unsigned int> redundant_joints_map_index_;
+
+ // Storage required for when the set of redundant joints is reset
+ bool position_ik_; //whether this solver is only being used for position ik
+ robot_model::JointModelGroup* joint_model_group_;
+ double max_solver_iterations_;
+ double epsilon_;
+ std::vector<kdl_kinematics_plugin::JointMimic> mimic_joints_;
+
+ std::vector<double> ik_weights_;
+ std::vector<std::string> ur_joint_names_;
+ std::vector<std::string> ur_link_names_;
+ int ur_joint_inds_start_;
+ int ur_link_inds_start_;
+
+ // kinematic chains representing the chain from the group base link to the
+ // UR base link, and the UR tip link to the group tip link
+ KDL::Chain kdl_base_chain_;
+ KDL::Chain kdl_tip_chain_;
+
+ };
}
+
+#endif
diff --git a/ur_kinematics/src/ur_moveit_plugin.cpp b/ur_kinematics/src/ur_moveit_plugin.cpp
index 031602872643f8fee72435041d1dfeffa3e2f7c4..12c86d4f1df3efd85c0f5f7aed7c36de257e0e02 100644
--- a/ur_kinematics/src/ur_moveit_plugin.cpp
+++ b/ur_kinematics/src/ur_moveit_plugin.cpp
@@ -1,101 +1,373 @@
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2014, Georgia Tech
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of Georgia Tech nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+/* Author: Kelsey Hawkins */
+
+/* Based on orignal source from Willow Garage. License copied below */
+
+/*********************************************************************
+* Software License Agreement (BSD License)
+*
+* Copyright (c) 2012, Willow Garage, Inc.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* * Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* * Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* * Neither the name of Willow Garage nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+* POSSIBILITY OF SUCH DAMAGE.
+*********************************************************************/
+
+/* Author: Sachin Chitta, David Lu!!, Ugo Cupcic */
+
+#include <class_loader/class_loader.h>
+
+//#include <tf/transform_datatypes.h>
+#include <tf_conversions/tf_kdl.h>
+#include <kdl_parser/kdl_parser.hpp>
+
+// URDF, SRDF
+#include <urdf_model/model.h>
+#include <srdfdom/model.h>
+
+#include <moveit/rdf_loader/rdf_loader.h>
+
+// UR kin
#include <ur_kinematics/ur_moveit_plugin.h>
-#include <geometry_msgs/PoseStamped.h>
-#include <ros/ros.h>
-#include <pluginlib/class_list_macros.h>
#include <ur_kinematics/ur_kin.h>
-#include <tf_conversions/tf_kdl.h>
-#include <limits>
-//register URKinematicsPlugin as a KinematicsBase implementation
-PLUGINLIB_EXPORT_CLASS(ur_kinematics::URKinematicsPlugin,kinematics::KinematicsBase);
+//register KDLKinematics as a KinematicsBase implementation
+CLASS_LOADER_REGISTER_CLASS(ur_kinematics::URKinematicsPlugin, kinematics::KinematicsBase)
namespace ur_kinematics
{
-URKinematicsPlugin::URKinematicsPlugin()
- : kdl_kinematics_plugin::KDLKinematicsPlugin(), ik_weights_(6) {}
-bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
- const std::vector<double> &ik_seed_state,
- double timeout,
- std::vector<double> &solution,
- const IKCallbackFn &solution_callback,
- moveit_msgs::MoveItErrorCodes &error_code,
- const std::vector<double> &consistency_limits,
- const kinematics::KinematicsQueryOptions &options) const
+ URKinematicsPlugin::URKinematicsPlugin():active_(false) {}
+
+void URKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const
{
- KDL::Frame kdl_ik_pose;
- tf::poseMsgToKDL(ik_pose, kdl_ik_pose);
- double homo_ik_pose[4][4];
- kdl_ik_pose.Make4x4((double*) homo_ik_pose);
- for(int i=0; i<3; i++) homo_ik_pose[i][3] *= 1000;
- double q_ik_sols[8][6]; // maximum of 8 IK solutions
- uint16_t num_sols = inverse((double*) homo_ik_pose, (double*) q_ik_sols, ik_seed_state[5]);
- if(num_sols <= 0) {
- // NO SOLUTION
- error_code.val = error_code.NO_IK_SOLUTION;
- return false;
+ std::vector<double> jnt_array_vector(dimension_, 0.0);
+ state_->setToRandomPositions(joint_model_group_);
+ state_->copyJointGroupPositions(joint_model_group_, &jnt_array_vector[0]);
+ for (std::size_t i = 0; i < dimension_; ++i)
+ {
+ if (lock_redundancy)
+ if (isRedundantJoint(i))
+ continue;
+ jnt_array(i) = jnt_array_vector[i];
}
+}
- std::vector<int> tried_solutions;
- while(true) {
- // use weighted absolute deviations to determine the solution closest the seed state
- double min_weighted_diff = std::numeric_limits<double>::infinity();
- int min_diff_index = -1;
- for(uint16_t i=0; i<num_sols; i++) {
- if(std::find(tried_solutions.begin(), tried_solutions.end(), i) != tried_solutions.end())
- continue;
+bool URKinematicsPlugin::isRedundantJoint(unsigned int index) const
+{
+ for (std::size_t j=0; j < redundant_joint_indices_.size(); ++j)
+ if (redundant_joint_indices_[j] == index)
+ return true;
+ return false;
+}
- double cur_weighted_diff = 0;
- for(uint16_t j=0; j<6; j++) {
- // solution violates the consistency_limits, throw it out
- if(std::fabs(ik_seed_state[j] - q_ik_sols[i][j]) > consistency_limits[j]) {
- cur_weighted_diff = std::numeric_limits<double>::infinity();
+void URKinematicsPlugin::getRandomConfiguration(const KDL::JntArray &seed_state,
+ const std::vector<double> &consistency_limits,
+ KDL::JntArray &jnt_array,
+ bool lock_redundancy) const
+{
+ std::vector<double> values(dimension_, 0.0);
+ std::vector<double> near(dimension_, 0.0);
+ for (std::size_t i = 0 ; i < dimension_; ++i)
+ near[i] = seed_state(i);
+
+ // Need to resize the consistency limits to remove mimic joints
+ std::vector<double> consistency_limits_mimic;
+ for(std::size_t i = 0; i < dimension_; ++i)
+ {
+ if(!mimic_joints_[i].active)
+ continue;
+ consistency_limits_mimic.push_back(consistency_limits[i]);
+ }
+
+ joint_model_group_->getVariableRandomPositionsNearBy(state_->getRandomNumberGenerator(), values, near, consistency_limits_mimic);
+
+ for (std::size_t i = 0; i < dimension_; ++i)
+ {
+ bool skip = false;
+ if (lock_redundancy)
+ for (std::size_t j = 0; j < redundant_joint_indices_.size(); ++j)
+ if (redundant_joint_indices_[j] == i)
+ {
+ skip = true;
break;
}
+ if (skip)
+ continue;
+ jnt_array(i) = values[i];
+ }
+}
+
+bool URKinematicsPlugin::checkConsistency(const KDL::JntArray& seed_state,
+ const std::vector<double> &consistency_limits,
+ const KDL::JntArray& solution) const
+{
+ for (std::size_t i = 0; i < dimension_; ++i)
+ if (fabs(seed_state(i) - solution(i)) > consistency_limits[i])
+ return false;
+ return true;
+}
+
+bool URKinematicsPlugin::initialize(const std::string &robot_description,
+ const std::string& group_name,
+ const std::string& base_frame,
+ const std::string& tip_frame,
+ double search_discretization)
+{
+ setValues(robot_description, group_name, base_frame, tip_frame, search_discretization);
+
+ ros::NodeHandle private_handle("~");
+ rdf_loader::RDFLoader rdf_loader(robot_description_);
+ const boost::shared_ptr<srdf::Model> &srdf = rdf_loader.getSRDF();
+ const boost::shared_ptr<urdf::ModelInterface>& urdf_model = rdf_loader.getURDF();
+
+ if (!urdf_model || !srdf)
+ {
+ ROS_ERROR_NAMED("kdl","URDF and SRDF must be loaded for KDL kinematics solver to work.");
+ return false;
+ }
+
+ robot_model_.reset(new robot_model::RobotModel(urdf_model, srdf));
+
+ robot_model::JointModelGroup* joint_model_group = robot_model_->getJointModelGroup(group_name);
+ if (!joint_model_group)
+ return false;
+
+ if(!joint_model_group->isChain())
+ {
+ ROS_ERROR_NAMED("kdl","Group '%s' is not a chain", group_name.c_str());
+ return false;
+ }
+ if(!joint_model_group->isSingleDOFJoints())
+ {
+ ROS_ERROR_NAMED("kdl","Group '%s' includes joints that have more than 1 DOF", group_name.c_str());
+ return false;
+ }
+
+ KDL::Tree kdl_tree;
+
+ if (!kdl_parser::treeFromUrdfModel(*urdf_model, kdl_tree))
+ {
+ ROS_ERROR_NAMED("kdl","Could not initialize tree object");
+ return false;
+ }
+ if (!kdl_tree.getChain(base_frame_, getTipFrame(), kdl_chain_))
+ {
+ ROS_ERROR_NAMED("kdl","Could not initialize chain object");
+ return false;
+ }
+
+ dimension_ = joint_model_group->getActiveJointModels().size() + joint_model_group->getMimicJointModels().size();
+ for (std::size_t i=0; i < joint_model_group->getJointModels().size(); ++i)
+ {
+ if(joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::REVOLUTE || joint_model_group->getJointModels()[i]->getType() == moveit::core::JointModel::PRISMATIC)
+ {
+ ik_chain_info_.joint_names.push_back(joint_model_group->getJointModelNames()[i]);
+ const std::vector<moveit_msgs::JointLimits> &jvec = joint_model_group->getJointModels()[i]->getVariableBoundsMsg();
+ ik_chain_info_.limits.insert(ik_chain_info_.limits.end(), jvec.begin(), jvec.end());
+ }
+ }
+
+ fk_chain_info_.joint_names = ik_chain_info_.joint_names;
+ fk_chain_info_.limits = ik_chain_info_.limits;
+
+ if(!joint_model_group->hasLinkModel(getTipFrame()))
+ {
+ ROS_ERROR_NAMED("kdl","Could not find tip name in joint group '%s'", group_name.c_str());
+ return false;
+ }
+ ik_chain_info_.link_names.push_back(getTipFrame());
+ fk_chain_info_.link_names = joint_model_group->getLinkModelNames();
+
+ joint_min_.resize(ik_chain_info_.limits.size());
+ joint_max_.resize(ik_chain_info_.limits.size());
+
+ for(unsigned int i=0; i < ik_chain_info_.limits.size(); i++)
+ {
+ joint_min_(i) = ik_chain_info_.limits[i].min_position;
+ joint_max_(i) = ik_chain_info_.limits[i].max_position;
+ }
- cur_weighted_diff += ik_weights_[j] * std::fabs(q_ik_sols[i][j] - ik_seed_state[j]);
+ // Get Solver Parameters
+ int max_solver_iterations;
+ double epsilon;
+ bool position_ik;
+
+ private_handle.param("max_solver_iterations", max_solver_iterations, 500);
+ private_handle.param("epsilon", epsilon, 1e-5);
+ private_handle.param(group_name+"/position_only_ik", position_ik, false);
+ ROS_DEBUG_NAMED("kdl","Looking in private handle: %s for param name: %s",
+ private_handle.getNamespace().c_str(),
+ (group_name+"/position_only_ik").c_str());
+
+ if(position_ik)
+ ROS_INFO_NAMED("kdl","Using position only ik");
+
+ num_possible_redundant_joints_ = kdl_chain_.getNrOfJoints() - joint_model_group->getMimicJointModels().size() - (position_ik? 3:6);
+
+ // Check for mimic joints
+ bool has_mimic_joints = joint_model_group->getMimicJointModels().size() > 0;
+ std::vector<unsigned int> redundant_joints_map_index;
+
+ std::vector<kdl_kinematics_plugin::JointMimic> mimic_joints;
+ unsigned int joint_counter = 0;
+ for (std::size_t i = 0; i < kdl_chain_.getNrOfSegments(); ++i)
+ {
+ const robot_model::JointModel *jm = robot_model_->getJointModel(kdl_chain_.segments[i].getJoint().getName());
+
+ //first check whether it belongs to the set of active joints in the group
+ if (jm->getMimic() == NULL && jm->getVariableCount() > 0)
+ {
+ kdl_kinematics_plugin::JointMimic mimic_joint;
+ mimic_joint.reset(joint_counter);
+ mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName();
+ mimic_joint.active = true;
+ mimic_joints.push_back(mimic_joint);
+ ++joint_counter;
+ continue;
+ }
+ if (joint_model_group->hasJointModel(jm->getName()))
+ {
+ if (jm->getMimic() && joint_model_group->hasJointModel(jm->getMimic()->getName()))
+ {
+ kdl_kinematics_plugin::JointMimic mimic_joint;
+ mimic_joint.reset(joint_counter);
+ mimic_joint.joint_name = kdl_chain_.segments[i].getJoint().getName();
+ mimic_joint.offset = jm->getMimicOffset();
+ mimic_joint.multiplier = jm->getMimicFactor();
+ mimic_joints.push_back(mimic_joint);
+ continue;
}
- if(cur_weighted_diff != std::numeric_limits<double>::infinity() &&
- cur_weighted_diff < min_weighted_diff) {
- min_weighted_diff = cur_weighted_diff;
- min_diff_index = i;
+ }
+ }
+ for (std::size_t i = 0; i < mimic_joints.size(); ++i)
+ {
+ if(!mimic_joints[i].active)
+ {
+ const robot_model::JointModel* joint_model = joint_model_group->getJointModel(mimic_joints[i].joint_name)->getMimic();
+ for(std::size_t j=0; j < mimic_joints.size(); ++j)
+ {
+ if(mimic_joints[j].joint_name == joint_model->getName())
+ {
+ mimic_joints[i].map_index = mimic_joints[j].map_index;
+ }
}
}
+ }
+ mimic_joints_ = mimic_joints;
- if(min_diff_index < 0) {
- // NO SOLUTION, failed consistency_limits/solution_callback
- error_code.val = error_code.NO_IK_SOLUTION;
- return false;
- }
+ // Setup the joint state groups that we need
+ state_.reset(new robot_state::RobotState(robot_model_));
+ state_2_.reset(new robot_state::RobotState(robot_model_));
- // copy the best solution to the output
- solution.resize(6);
- std::copy(q_ik_sols[min_diff_index], q_ik_sols[min_diff_index+1], solution.begin());
+ // Store things for when the set of redundant joints may change
+ position_ik_ = position_ik;
+ joint_model_group_ = joint_model_group;
+ max_solver_iterations_ = max_solver_iterations;
+ epsilon_ = epsilon;
- if(!solution_callback.empty())
- solution_callback(ik_pose, solution, error_code);
- else
- error_code.val = error_code.SUCCESS;
+ ur_joint_names_.push_back("shoulder_pan_joint");
+ ur_joint_names_.push_back("shoulder_lift_joint");
+ ur_joint_names_.push_back("elbow_joint");
+ ur_joint_names_.push_back("wrist_1_joint");
+ ur_joint_names_.push_back("wrist_2_joint");
+ ur_joint_names_.push_back("wrist_3_joint");
- if(error_code.val == error_code.SUCCESS)
- return true;
+ ur_link_names_.push_back("base_link"); // 0
+ ur_link_names_.push_back("shoulder_link"); // 1
+ ur_link_names_.push_back("upper_arm_link"); // 2
+ ur_link_names_.push_back("forearm_link"); // 3
+ ur_link_names_.push_back("wrist_1_link"); // 4
+ ur_link_names_.push_back("wrist_2_link"); // 5
+ ur_link_names_.push_back("wrist_3_link"); // 6
+ ur_link_names_.push_back("ee_link"); // 7 (FIXED)
+
+ ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]);
+ ur_link_inds_start_ = getKDLSegmentIndex(ur_link_names_[0]);
- tried_solutions.push_back(min_diff_index);
+ // check to make sure the serial chain is properly defined in the model
+ int cur_ur_joint_ind, last_ur_joint_ind = ur_joint_inds_start_;
+ for(int i=1; i<6; i++) {
+ cur_ur_joint_ind = getJointIndex(ur_joint_names_[i]);
+ if(cur_ur_joint_ind < 0) {
+ ROS_ERROR_NAMED("kdl",
+ "Kin chain provided in model doesn't contain standard UR joint '%s'.",
+ ur_joint_names_[i].c_str());
+ return false;
+ }
+ if(cur_ur_joint_ind != last_ur_joint_ind + 1) {
+ ROS_ERROR_NAMED("kdl",
+ "Kin chain provided in model doesn't have proper serial joint order: '%s'.",
+ ur_joint_names_[i].c_str());
+ return false;
+ }
+ last_ur_joint_ind = cur_ur_joint_ind;
}
-}
+ // if successful, the kinematic chain includes a serial chain of the UR joints
- /**
-* @brief Initialization function for the kinematics
-* @return True if initialization was successful, false otherwise
-*/
-bool URKinematicsPlugin::initialize(const std::string& robot_description,
- const std::string& group_name,
- const std::string& base_frame,
- const std::string& tip_frame,
- double search_discretization)
-{
- ros::NodeHandle private_handle("~");
+ kdl_tree.getChain(getBaseFrame(), ur_link_names_[0], kdl_base_chain_);
+ kdl_tree.getChain(ur_link_names_[7], getTipFrame(), kdl_tip_chain_);
+ printf("dim %d st %d kdlbase %d tip %d\n", dimension_, ur_joint_inds_start_, kdl_base_chain_.getNrOfJoints(), kdl_tip_chain_.getNrOfJoints());
+
+ // weights for redundant solution selection
+ ik_weights_.resize(6);
if(private_handle.hasParam("ik_weights")) {
private_handle.getParam("ik_weights", ik_weights_);
} else {
@@ -107,8 +379,391 @@ bool URKinematicsPlugin::initialize(const std::string& robot_description,
ik_weights_[5] = 0.3;
}
- return kdl_kinematics_plugin::KDLKinematicsPlugin::initialize(
- robot_description, group_name, base_frame, tip_frame, search_discretization);
+ active_ = true;
+ ROS_DEBUG_NAMED("kdl","KDL solver initialized");
+printf("solver init\n");
+ return true;
+}
+
+bool URKinematicsPlugin::setRedundantJoints(const std::vector<unsigned int> &redundant_joints)
+{
+ if(num_possible_redundant_joints_ < 0)
+ {
+ ROS_ERROR_NAMED("kdl","This group cannot have redundant joints");
+ return false;
+ }
+ if(redundant_joints.size() > num_possible_redundant_joints_)
+ {
+ ROS_ERROR_NAMED("kdl","This group can only have %d redundant joints", num_possible_redundant_joints_);
+ return false;
+ }
+ std::vector<unsigned int> redundant_joints_map_index;
+ unsigned int counter = 0;
+ for(std::size_t i=0; i < dimension_; ++i)
+ {
+ bool is_redundant_joint = false;
+ for(std::size_t j=0; j < redundant_joints.size(); ++j)
+ {
+ if(i == redundant_joints[j])
+ {
+ is_redundant_joint = true;
+counter++;
+ break;
+ }
+ }
+ if(!is_redundant_joint)
+ {
+ // check for mimic
+ if(mimic_joints_[i].active)
+ {
+redundant_joints_map_index.push_back(counter);
+counter++;
+ }
+ }
+ }
+ for(std::size_t i=0; i < redundant_joints_map_index.size(); ++i)
+ ROS_DEBUG_NAMED("kdl","Redundant joint map index: %d %d", (int) i, (int) redundant_joints_map_index[i]);
+
+ redundant_joints_map_index_ = redundant_joints_map_index;
+ redundant_joint_indices_ = redundant_joints;
+ return true;
+}
+
+int URKinematicsPlugin::getJointIndex(const std::string &name) const
+{
+ for (unsigned int i=0; i < ik_chain_info_.joint_names.size(); i++) {
+ if (ik_chain_info_.joint_names[i] == name)
+ return i;
+ }
+ return -1;
+}
+
+int URKinematicsPlugin::getKDLSegmentIndex(const std::string &name) const
+{
+ int i=0;
+ while (i < (int)kdl_chain_.getNrOfSegments()) {
+ if (kdl_chain_.getSegment(i).getName() == name) {
+ return i+1;
+ }
+ i++;
+ }
+ return -1;
+}
+
+bool URKinematicsPlugin::timedOut(const ros::WallTime &start_time, double duration) const
+{
+ return ((ros::WallTime::now()-start_time).toSec() >= duration);
+}
+
+bool URKinematicsPlugin::getPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ const IKCallbackFn solution_callback = 0;
+ std::vector<double> consistency_limits;
+
+ return searchPositionIK(ik_pose,
+ ik_seed_state,
+ default_timeout_,
+ solution,
+ solution_callback,
+ error_code,
+ consistency_limits,
+ options);
+}
+
+bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ const IKCallbackFn solution_callback = 0;
+ std::vector<double> consistency_limits;
+
+ return searchPositionIK(ik_pose,
+ ik_seed_state,
+ timeout,
+ solution,
+ solution_callback,
+ error_code,
+ consistency_limits,
+ options);
+}
+
+bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ const std::vector<double> &consistency_limits,
+ std::vector<double> &solution,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ const IKCallbackFn solution_callback = 0;
+ return searchPositionIK(ik_pose,
+ ik_seed_state,
+ timeout,
+ solution,
+ solution_callback,
+ error_code,
+ consistency_limits,
+ options);
+}
+
+bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ std::vector<double> consistency_limits;
+ return searchPositionIK(ik_pose,
+ ik_seed_state,
+ timeout,
+ solution,
+ solution_callback,
+ error_code,
+ consistency_limits,
+ options);
+}
+
+bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ const std::vector<double> &consistency_limits,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ return searchPositionIK(ik_pose,
+ ik_seed_state,
+ timeout,
+ solution,
+ solution_callback,
+ error_code,
+ consistency_limits,
+ options);
+}
+
+typedef std::pair<int, double> idx_double;
+bool comparator(const idx_double& l, const idx_double& r)
+{ return l.second < r.second; }
+
+bool URKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose,
+ const std::vector<double> &ik_seed_state,
+ double timeout,
+ std::vector<double> &solution,
+ const IKCallbackFn &solution_callback,
+ moveit_msgs::MoveItErrorCodes &error_code,
+ const std::vector<double> &consistency_limits,
+ const kinematics::KinematicsQueryOptions &options) const
+{
+ printf("IK in\n");
+ ros::WallTime n1 = ros::WallTime::now();
+ if(!active_) {
+ ROS_ERROR_NAMED("kdl","kinematics not active");
+ error_code.val = error_code.NO_IK_SOLUTION;
+ return false;
+ }
+
+ if(ik_seed_state.size() != dimension_) {
+ ROS_ERROR_STREAM_NAMED("kdl","Seed state must have size " << dimension_ << " instead of size " << ik_seed_state.size());
+ error_code.val = error_code.NO_IK_SOLUTION;
+ return false;
+ }
+
+ if(!consistency_limits.empty() && consistency_limits.size() != dimension_) {
+ ROS_ERROR_STREAM_NAMED("kdl","Consistency limits be empty or must have size " << dimension_ << " instead of size " << consistency_limits.size());
+ error_code.val = error_code.NO_IK_SOLUTION;
+ return false;
+ }
+
+ KDL::JntArray jnt_seed_state(dimension_);
+ for(int i=0; i<dimension_; i++)
+ jnt_seed_state(i) = ik_seed_state[i];
+
+ solution.resize(dimension_);
+
+ KDL::ChainFkSolverPos_recursive fk_solver_base(kdl_base_chain_);
+ KDL::ChainFkSolverPos_recursive fk_solver_tip(kdl_tip_chain_);
+
+ KDL::JntArray jnt_pos_test(jnt_seed_state);
+ KDL::JntArray jnt_pos_base(ur_joint_inds_start_);
+ KDL::JntArray jnt_pos_tip(dimension_ - 6 - ur_joint_inds_start_);
+ KDL::Frame pose_base, pose_tip;
+
+ KDL::Frame kdl_ik_pose;
+ KDL::Frame kdl_ik_pose_ur_chain;
+ double homo_ik_pose[4][4];
+ double q_ik_sols[8][6]; // maximum of 8 IK solutions
+ uint16_t num_sols;
+
+ while(1) {
+ if(timedOut(n1, timeout)) {
+ ROS_DEBUG_NAMED("kdl","IK timed out");
+ error_code.val = error_code.TIMED_OUT;
+ return false;
+ }
+
+ /////////////////////////////////////////////////////////////////////////////
+ // find transformation from robot base to UR base and UR tip to robot tip
+ for(uint32_t i=0; i<jnt_pos_base.rows(); i++)
+ jnt_pos_base(i) = jnt_pos_test(i);
+ for(uint32_t i=0; i<jnt_pos_tip.rows(); i++)
+ jnt_pos_tip(i) = jnt_pos_test(i + ur_joint_inds_start_ + 6);
+ for(uint32_t i=0; i<jnt_seed_state.rows(); i++)
+ solution[i] = jnt_pos_test(i);
+
+printf("FK in\n");
+ if(fk_solver_base.JntToCart(jnt_pos_base, pose_base) < 0) {
+ ROS_ERROR_NAMED("kdl", "Could not compute FK for base chain");
+ return false;
+ }
+
+ if(fk_solver_tip.JntToCart(jnt_pos_tip, pose_tip) < 0) {
+ ROS_ERROR_NAMED("kdl", "Could not compute FK for tip chain");
+ return false;
+ }
+printf("FK out\n");
+ /////////////////////////////////////////////////////////////////////////////
+
+ /////////////////////////////////////////////////////////////////////////////
+ // Convert into query for analytic solver
+ tf::poseMsgToKDL(ik_pose, kdl_ik_pose);
+ kdl_ik_pose_ur_chain = pose_base.Inverse() * kdl_ik_pose * pose_tip.Inverse();
+
+ kdl_ik_pose_ur_chain.Make4x4((double*) homo_ik_pose);
+ for(int i=0; i<3; i++) homo_ik_pose[i][3] *= 1000; // strange KDL fix
+ /////////////////////////////////////////////////////////////////////////////
+
+ // Do the analytic IK
+ num_sols = inverse((double*) homo_ik_pose, (double*) q_ik_sols,
+ jnt_pos_test(ur_joint_inds_start_+5));
+
+ // use weighted absolute deviations to determine the solution closest the seed state
+ std::vector<idx_double> weighted_diffs;
+ for(uint16_t i=0; i<num_sols; i++) {
+ double cur_weighted_diff = 0;
+ for(uint16_t j=0; j<6; j++) {
+ // solution violates the consistency_limits, throw it out
+ double abs_diff = std::fabs(ik_seed_state[j] - q_ik_sols[i][j]);
+ if(!consistency_limits.empty() && abs_diff > consistency_limits[j]) {
+ cur_weighted_diff = std::numeric_limits<double>::infinity();
+ break;
+ }
+ cur_weighted_diff += ik_weights_[j] * abs_diff;
+ }
+ weighted_diffs.push_back(idx_double(i, cur_weighted_diff));
+ }
+
+ std::sort(weighted_diffs.begin(), weighted_diffs.end(), comparator);
+
+ for(uint16_t i=0; i<weighted_diffs.size(); i++) {
+ if(weighted_diffs[i].second == std::numeric_limits<double>::infinity()) {
+ // rest are infinity, no more feasible solutions
+ break;
+ }
+
+ // copy the best solution to the output
+ int cur_idx = weighted_diffs[i].first;
+ std::copy(q_ik_sols[cur_idx], q_ik_sols[cur_idx+1], solution.begin() + ur_joint_inds_start_);
+
+ // see if this solution passes the callback function test
+ if(!solution_callback.empty())
+ solution_callback(ik_pose, solution, error_code);
+ else
+ error_code.val = error_code.SUCCESS;
+
+printf("IK suc\n");
+ if(error_code.val == error_code.SUCCESS)
+ return true;
+ }
+ // none of the solutions were both consistent and passed the solution callback
+
+ if(options.lock_redundant_joints) {
+ ROS_DEBUG_NAMED("kdl","Will not pertubate redundant joints to find solution");
+ break;
+ }
+
+ if(dimension_ == 6) {
+ ROS_DEBUG_NAMED("kdl","No other joints to pertubate, cannot find solution");
+ break;
+ }
+
+ // randomly pertubate other joints and try again
+ if(!consistency_limits.empty()) {
+ getRandomConfiguration(jnt_seed_state, consistency_limits, jnt_pos_test, false);
+ } else {
+ getRandomConfiguration(jnt_pos_test, false);
+ }
+ }
+
+ ROS_DEBUG_NAMED("kdl","An IK that satisifes the constraints and is collision free could not be found");
+ error_code.val = error_code.NO_IK_SOLUTION;
+printf("IK fail\n");
+ return false;
}
+bool URKinematicsPlugin::getPositionFK(const std::vector<std::string> &link_names,
+ const std::vector<double> &joint_angles,
+ std::vector<geometry_msgs::Pose> &poses) const
+{
+ ros::WallTime n1 = ros::WallTime::now();
+ if(!active_)
+ {
+ ROS_ERROR_NAMED("kdl","kinematics not active");
+ return false;
+ }
+ poses.resize(link_names.size());
+ if(joint_angles.size() != dimension_)
+ {
+ ROS_ERROR_NAMED("kdl","Joint angles vector must have size: %d",dimension_);
+ return false;
+ }
+
+ KDL::Frame p_out;
+ geometry_msgs::PoseStamped pose;
+ tf::Stamped<tf::Pose> tf_pose;
+
+ KDL::JntArray jnt_pos_in(dimension_);
+ for(unsigned int i=0; i < dimension_; i++)
+ {
+ jnt_pos_in(i) = joint_angles[i];
+ }
+
+ KDL::ChainFkSolverPos_recursive fk_solver(kdl_chain_);
+
+ bool valid = true;
+ for(unsigned int i=0; i < poses.size(); i++)
+ {
+ ROS_DEBUG_NAMED("kdl","End effector index: %d",getKDLSegmentIndex(link_names[i]));
+ if(fk_solver.JntToCart(jnt_pos_in,p_out,getKDLSegmentIndex(link_names[i])) >=0)
+ {
+ tf::poseKDLToMsg(p_out,poses[i]);
+ }
+ else
+ {
+ ROS_ERROR_NAMED("kdl","Could not compute FK for %s",link_names[i].c_str());
+ valid = false;
+ }
+ }
+ return valid;
}
+
+const std::vector<std::string>& URKinematicsPlugin::getJointNames() const
+{
+ return ik_chain_info_.joint_names;
+}
+
+const std::vector<std::string>& URKinematicsPlugin::getLinkNames() const
+{
+ return ik_chain_info_.link_names;
+}
+
+} // namespace