Merge branch 'moveit-plugin-devel' into ur10_moveit

Conflicts:
	ur_description/urdf/ur10.urdf.xacro

ur10_moveit_config/.setup_assistant

@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur10.srdf
   CONFIG:
-    generated_timestamp: 1395339352
\ No newline at end of file
+    generated_timestamp: 1404841877
\ No newline at end of file

ur10_moveit_config/config/fake_controllers.yaml

@@ -6,4 +6,4 @@ controller_list:
       - elbow_joint
       - wrist_1_joint
       - wrist_2_joint
-      - wrist_3_joint
+      - wrist_3_joint
\ No newline at end of file

ur10_moveit_config/config/kinematics.yaml

 manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: ur_kinematics/UR10KinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
\ No newline at end of file
+  kinematics_solver_attempts: 3

ur10_moveit_config/package.xml

 <package>
 
   <name>ur10_moveit_config</name>
-  <version>1.0.2</version>
+  <version>1.0.3</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur10 with the MoveIt Motion Planning Framework
   </description>

ur5_moveit_config/.setup_assistant

@@ -5,4 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/ur5.srdf
   CONFIG:
-    generated_timestamp: 1395340824
\ No newline at end of file
+    generated_timestamp: 1404842691
\ No newline at end of file

ur5_moveit_config/config/kinematics.yaml

 manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: ur_kinematics/UR5KinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
\ No newline at end of file
+  kinematics_solver_attempts: 3

ur5_moveit_config/config/ur5.srdf

@@ -34,7 +34,7 @@
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="fixed_base" type="fixed" parent_frame="world" child_link="base_link" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent" />
+    <disable_collisions link1="shoulder_link" link2="ur_base_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent" />
     <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent" />
     <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent" />

ur5_moveit_config/package.xml

 <package>
 
   <name>ur5_moveit_config</name>
-  <version>1.0.2</version>
+  <version>1.0.3</version>
   <description>
      An automatically generated package with all the configuration and launch files for using the ur5 with the MoveIt Motion Planning Framework
   </description>

ur_description/urdf/ur10.urdf.xacro

@@ -62,7 +62,16 @@
 
   <xacro:macro name="ur10_robot" params="prefix">
 
-	<link name="${prefix}base_link" >
+  <link name="${prefix}base_link" >
+  </link>
+
+  <joint name="${prefix}base_link_joint" type="fixed">
+    <parent link="${prefix}base_link" />
+    <child link = "${prefix}ur_base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <link name="${prefix}ur_base_link" >
 		<visual>
 		  <geometry>
 		    <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae" scale="${scale}"/>
@@ -85,7 +94,7 @@
 	</link>
 
 	<joint name="${prefix}shoulder_pan_joint" type="revolute">
-		<parent link="${prefix}base_link" />
+		<parent link="${prefix}ur_base_link" />
 		<child link = "${prefix}shoulder_link" />
 		<origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
 		<axis xyz="0.0 0.0 1.0" />

ur_description/urdf/ur10_joint_limited.urdf.xacro

@@ -51,6 +51,15 @@
   <xacro:macro name="ur10_robot" params="prefix">
 
   <link name="${prefix}base_link" >
+  </link>
+
+  <joint name="${prefix}base_link_joint" type="fixed">
+    <parent link="${prefix}base_link" />
+    <child link = "${prefix}ur_base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <link name="${prefix}ur_base_link" >
     <visual>
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Base.stl" />
@@ -73,7 +82,7 @@
   </link>
 
   <joint name="${prefix}shoulder_pan_joint" type="revolute">
-    <parent link="${prefix}base_link" />
+    <parent link="${prefix}ur_base_link" />
     <child link = "${prefix}shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0.0 0.0 1.0" />

ur_description/urdf/ur5.urdf.xacro

@@ -52,6 +52,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
 <xacro:macro name="ur5_robot" params="prefix">
 
   <link name="${prefix}base_link" >
+  </link>
+
+  <joint name="${prefix}base_link_joint" type="fixed">
+    <parent link="${prefix}base_link" />
+    <child link = "${prefix}ur_base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <link name="${prefix}ur_base_link" >
     <visual>
       <geometry>
 		    <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
@@ -71,7 +80,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   </link>
 
   <joint name="${prefix}shoulder_pan_joint" type="revolute">
-    <parent link="${prefix}base_link" />
+    <parent link="${prefix}ur_base_link" />
     <child link = "${prefix}shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0 0 1" />

ur_description/urdf/ur5_joint_limited.urdf.xacro

@@ -52,6 +52,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
 <xacro:macro name="ur5_robot" params="prefix">
 
   <link name="${prefix}base_link" >
+  </link>
+
+  <joint name="${prefix}base_link_joint" type="fixed">
+    <parent link="${prefix}base_link" />
+    <child link = "${prefix}ur_base_link" />
+    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+  </joint>
+
+  <link name="${prefix}ur_base_link" >
     <visual>
       <geometry>
 		    <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
@@ -71,7 +80,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   </link>
 
   <joint name="${prefix}shoulder_pan_joint" type="revolute">
-    <parent link="${prefix}base_link" />
+    <parent link="${prefix}ur_base_link" />
     <child link = "${prefix}shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
     <axis xyz="0 0 1" />

ur_kinematics/CMakeLists.txt

@@ -4,11 +4,10 @@ project(ur_kinematics)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS roscpp geometry_msgs moveit_core moveit_ros_planning pluginlib tf_conversions)
 
 ## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
+find_package(Boost REQUIRED COMPONENTS system)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -49,7 +48,9 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES ur10_kin ur5_kin
+  LIBRARIES ur10_kin ur5_kin ur10_moveit_plugin ur5_moveit_plugin
+  CATKIN_DEPENDS pluginlib
+  DEPENDS moveit_core 
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -60,8 +61,12 @@ catkin_package(
 
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
+include_directories(SYSTEM ${Boost_INCLUDE_DIR})
 include_directories(include ${catkin_INCLUDE_DIRS})
 
+link_directories(${Boost_LIBRARY_DIRS})
+link_directories(${catkin_LIBRARY_DIRS})
+
 ## Declare a cpp library
 # add_library(ur_kinematics
 #   src/${PROJECT_NAME}/ur_kinematics.cpp
@@ -72,6 +77,20 @@ set_target_properties(ur10_kin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
 add_library(ur5_kin src/ur_kin.cpp)
 set_target_properties(ur5_kin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
 
+add_library(ur10_moveit_plugin src/ur_moveit_plugin.cpp)
+set_target_properties(ur10_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR10_PARAMS")
+target_link_libraries(ur10_moveit_plugin 
+    ${catkin_LIBRARIES} 
+    ${Boost_LIBRARIES}
+    ur10_kin)
+
+add_library(ur5_moveit_plugin src/ur_moveit_plugin.cpp)
+set_target_properties(ur5_moveit_plugin PROPERTIES COMPILE_DEFINITIONS "UR5_PARAMS")
+target_link_libraries(ur5_moveit_plugin 
+    ${catkin_LIBRARIES} 
+    ${Boost_LIBRARIES}
+    ur5_kin)
+
 ## Declare a cpp executable
 # add_executable(ur_kinematics_node src/ur_kinematics_node.cpp)
 
@@ -124,11 +143,10 @@ install(DIRECTORY include/${PROJECT_NAME}/
 # )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+install(FILES
+    ur_moveit_plugins.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 #############
 ## Testing ##

ur_kinematics/include/ur_kinematics/ur_kin.h

@@ -86,6 +86,11 @@ namespace ur_kinematics {
   // @param T       The 4x4 end effector pose in row-major ordering
   void forward(const double* q, double* T);
 
+  // @param q       The 6 joint values 
+  // @param Ti      The 4x4 link i pose in row-major ordering. If NULL, nothing is stored.
+  void forward_all(const double* q, double* T1, double* T2, double* T3, 
+                                    double* T4, double* T5, double* T6);
+
   // @param T       The 4x4 end effector pose in row-major ordering
   // @param q_sols  An 8x6 array of doubles returned, all angles should be in [0,2*PI)
   // @param q6_des  An optional parameter which designates what the q6 value should take

ur_kinematics/include/ur_kinematics/ur_moveit_plugin.h

+/*********************************************************************
+* 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/robot_model/robot_model.h>
+#include <moveit/robot_state/robot_state.h>
+
+namespace 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();
+
+    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;
+
+    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;
+
+    virtual bool setRedundantJoints(const std::vector<unsigned int> &redundant_joint_indices);
+
+  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_;
+    std::string arm_prefix_;
+
+    // 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

ur_kinematics/package.xml

@@ -4,6 +4,7 @@
   <version>1.0.2</version>
   <description>
      Provides forward and inverse kinematics for Universal robot designs.
+     See http://hdl.handle.net/1853/50782 for details.
   </description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
@@ -42,15 +43,26 @@
   <!--   <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
+
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>moveit_core</build_depend>
+  <build_depend>moveit_ros_planning</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>pluginlib</build_depend>
+  <build_depend>tf_conversions</build_depend>
 
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- You can specify that this package is a metapackage here: -->
-    <!-- <metapackage/> -->
+  <run_depend>moveit_core</run_depend>
+  <run_depend>moveit_ros_planning</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>pluginlib</run_depend>
+  <run_depend>tf_conversions</run_depend>
 
-    <!-- Other tools can request additional information be placed here -->
 
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <moveit_core plugin="${prefix}/ur_moveit_plugins.xml"/>
   </export>
 </package>

ur_kinematics/src/ur_kin.cpp

@@ -34,6 +34,132 @@ namespace ur_kinematics {
     *T = 0.0; T++; *T = 0.0; T++; *T = 0.0; T++; *T = 1.0;
   }
 
+  void forward_all(const double* q, double* T1, double* T2, double* T3, 
+                                    double* T4, double* T5, double* T6) {
+    double s1 = sin(*q), c1 = cos(*q); q++; // q1
+    double q23 = *q, q234 = *q, s2 = sin(*q), c2 = cos(*q); q++; // q2
+    double s3 = sin(*q), c3 = cos(*q); q23 += *q; q234 += *q; q++; // q3
+    q234 += *q; q++; // q4
+    double s5 = sin(*q), c5 = cos(*q); q++; // q5
+    double s6 = sin(*q), c6 = cos(*q); // q6
+    double s23 = sin(q23), c23 = cos(q23);
+    double s234 = sin(q234), c234 = cos(q234);
+
+    if(T1 != NULL) {
+      *T1 = c1; T1++;
+      *T1 = 0; T1++;
+      *T1 = s1; T1++;
+      *T1 = 0; T1++;
+      *T1 = s1; T1++;
+      *T1 = 0; T1++;
+      *T1 = -c1; T1++;
+      *T1 = 0; T1++;
+      *T1 =       0; T1++;
+      *T1 = 1; T1++;
+      *T1 = 0; T1++;
+      *T1 =d1; T1++;
+      *T1 =       0; T1++;
+      *T1 = 0; T1++;
+      *T1 = 0; T1++;
+      *T1 = 1; T1++;
+    }
+
+    if(T2 != NULL) {
+      *T2 = c1*c2; T2++;
+      *T2 = -c1*s2; T2++;
+      *T2 = s1; T2++;
+      *T2 =a2*c1*c2; T2++;
+      *T2 = c2*s1; T2++;
+      *T2 = -s1*s2; T2++;
+      *T2 = -c1; T2++;
+      *T2 =a2*c2*s1; T2++;
+      *T2 =         s2; T2++;
+      *T2 = c2; T2++;
+      *T2 = 0; T2++;
+      *T2 =   d1 + a2*s2; T2++;
+      *T2 =               0; T2++;
+      *T2 = 0; T2++;
+      *T2 = 0; T2++;
+      *T2 =                 1; T2++;
+    }
+
+    if(T3 != NULL) {
+      *T3 = c23*c1; T3++;
+      *T3 = -s23*c1; T3++;
+      *T3 = s1; T3++;
+      *T3 =c1*(a3*c23 + a2*c2); T3++;
+      *T3 = c23*s1; T3++;
+      *T3 = -s23*s1; T3++;
+      *T3 = -c1; T3++;
+      *T3 =s1*(a3*c23 + a2*c2); T3++;
+      *T3 =         s23; T3++;
+      *T3 = c23; T3++;
+      *T3 = 0; T3++;
+      *T3 =     d1 + a3*s23 + a2*s2; T3++;
+      *T3 =                    0; T3++;
+      *T3 = 0; T3++;
+      *T3 = 0; T3++;
+      *T3 =                                     1; T3++;
+    }
+
+    if(T4 != NULL) {
+      *T4 = c234*c1; T4++;
+      *T4 = s1; T4++;
+      *T4 = s234*c1; T4++;
+      *T4 =c1*(a3*c23 + a2*c2) + d4*s1; T4++;
+      *T4 = c234*s1; T4++;
+      *T4 = -c1; T4++;
+      *T4 = s234*s1; T4++;
+      *T4 =s1*(a3*c23 + a2*c2) - d4*c1; T4++;
+      *T4 =         s234; T4++;
+      *T4 = 0; T4++;
+      *T4 = -c234; T4++;
+      *T4 =                  d1 + a3*s23 + a2*s2; T4++;
+      *T4 =                         0; T4++;
+      *T4 = 0; T4++;
+      *T4 = 0; T4++;
+      *T4 =                                                  1; T4++;
+    }
+
+    if(T5 != NULL) {
+      *T5 = s1*s5 + c234*c1*c5; T5++;
+      *T5 = -s234*c1; T5++;
+      *T5 = c5*s1 - c234*c1*s5; T5++;
+      *T5 =c1*(a3*c23 + a2*c2) + d4*s1 + d5*s234*c1; T5++;
+      *T5 = c234*c5*s1 - c1*s5; T5++;
+      *T5 = -s234*s1; T5++;
+      *T5 = - c1*c5 - c234*s1*s5; T5++;
+      *T5 =s1*(a3*c23 + a2*c2) - d4*c1 + d5*s234*s1; T5++;
+      *T5 =                           s234*c5; T5++;
+      *T5 = c234; T5++;
+      *T5 = -s234*s5; T5++;
+      *T5 =                          d1 + a3*s23 + a2*s2 - d5*c234; T5++;
+      *T5 =                                                   0; T5++;
+      *T5 = 0; T5++;
+      *T5 = 0; T5++;
+      *T5 =                                                                                 1; T5++;
+    }
+
+    if(T6 != NULL) {
+      *T6 =   c6*(s1*s5 + c234*c1*c5) - s234*c1*s6; T6++;
+      *T6 = - s6*(s1*s5 + c234*c1*c5) - s234*c1*c6; T6++;
+      *T6 = c5*s1 - c234*c1*s5; T6++;
+      *T6 =d6*(c5*s1 - c234*c1*s5) + c1*(a3*c23 + a2*c2) + d4*s1 + d5*s234*c1; T6++;
+      *T6 = - c6*(c1*s5 - c234*c5*s1) - s234*s1*s6; T6++;
+      *T6 = s6*(c1*s5 - c234*c5*s1) - s234*c6*s1; T6++;
+      *T6 = - c1*c5 - c234*s1*s5; T6++;
+      *T6 =s1*(a3*c23 + a2*c2) - d4*c1 - d6*(c1*c5 + c234*s1*s5) + d5*s234*s1; T6++;
+      *T6 =                                       c234*s6 + s234*c5*c6; T6++;
+      *T6 = c234*c6 - s234*c5*s6; T6++;
+      *T6 = -s234*s5; T6++;
+      *T6 =                                                      d1 + a3*s23 + a2*s2 - d5*c234 - d6*s234*s5; T6++;
+      *T6 =                                                                                                   0; T6++;
+      *T6 = 0; T6++;
+      *T6 = 0; T6++;
+      *T6 =                                                                                                                                            1; T6++;
+    }
+  }
+
   int inverse(const double* T, double* q_sols, double q6_des) {
     int num_sols = 0;
     double T02 = -*T; T++; double T00 =  *T; T++; double T01 =  *T; T++; double T03 = -*T; T++; 

ur_kinematics/src/ur_moveit_plugin.cpp

+/*********************************************************************
+* 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 <ur_kinematics/ur_kin.h>
+
+//register KDLKinematics as a KinematicsBase implementation
+CLASS_LOADER_REGISTER_CLASS(ur_kinematics::URKinematicsPlugin, kinematics::KinematicsBase)
+
+namespace ur_kinematics
+{
+
+  URKinematicsPlugin::URKinematicsPlugin():active_(false) {}
+
+void URKinematicsPlugin::getRandomConfiguration(KDL::JntArray &jnt_array, bool lock_redundancy) const
+{
+  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];
+  }
+}
+
+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;
+}
+
+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;
+  }
+
+  // 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;
+      }
+    }
+  }
+  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;
+
+  // 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_));
+
+  // 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;
+
+  private_handle.param<std::string>("arm_prefix", arm_prefix_, "");
+
+  ur_joint_names_.push_back(arm_prefix_ + "shoulder_pan_joint");
+  ur_joint_names_.push_back(arm_prefix_ + "shoulder_lift_joint");
+  ur_joint_names_.push_back(arm_prefix_ + "elbow_joint");
+  ur_joint_names_.push_back(arm_prefix_ + "wrist_1_joint");
+  ur_joint_names_.push_back(arm_prefix_ + "wrist_2_joint");
+  ur_joint_names_.push_back(arm_prefix_ + "wrist_3_joint");
+
+  ur_link_names_.push_back(arm_prefix_ + "base_link");       // 0
+  ur_link_names_.push_back(arm_prefix_ + "ur_base_link");    // 1
+  ur_link_names_.push_back(arm_prefix_ + "shoulder_link");   // 2
+  ur_link_names_.push_back(arm_prefix_ + "upper_arm_link");  // 3
+  ur_link_names_.push_back(arm_prefix_ + "forearm_link");    // 4
+  ur_link_names_.push_back(arm_prefix_ + "wrist_1_link");    // 5
+  ur_link_names_.push_back(arm_prefix_ + "wrist_2_link");    // 6
+  ur_link_names_.push_back(arm_prefix_ + "wrist_3_link");    // 7
+  ur_link_names_.push_back(arm_prefix_ + "ee_link");         // 8
+
+  ur_joint_inds_start_ = getJointIndex(ur_joint_names_[0]);
+
+  // 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
+
+  kdl_tree.getChain(getBaseFrame(), ur_link_names_.front(), kdl_base_chain_);
+  kdl_tree.getChain(ur_link_names_.back(), getTipFrame(), kdl_tip_chain_);
+
+  // weights for redundant solution selection
+  ik_weights_.resize(6);
+  if(private_handle.hasParam("ik_weights")) {
+    private_handle.getParam("ik_weights", ik_weights_);
+  } else {
+    ik_weights_[0] = 1.0;
+    ik_weights_[1] = 1.0;
+    ik_weights_[2] = 0.1;
+    ik_weights_[3] = 0.1;
+    ik_weights_[4] = 0.3;
+    ik_weights_[5] = 0.3;
+  }
+
+  active_ = true;
+  ROS_DEBUG_NAMED("kdl","KDL solver initialized");
+  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
+{
+  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);
+
+    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;
+    }
+    /////////////////////////////////////////////////////////////////////////////
+
+    /////////////////////////////////////////////////////////////////////////////
+    // 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();
+    printf("ik request:\n");
+    for(int i=0; i<4; i++) {
+      for(int j=0; j<4; j++)
+        printf("%1.6f ", kdl_ik_pose(i, j));
+      printf("\n");
+    }
+    
+    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;
+
+      if(error_code.val == error_code.SUCCESS) {
+        std::vector<std::string> fk_link_names;
+        fk_link_names.push_back(ur_link_names_.back());
+        std::vector<geometry_msgs::Pose> fk_poses;
+        getPositionFK(fk_link_names, solution, fk_poses);
+        KDL::Frame kdl_fk_pose;
+        tf::poseMsgToKDL(fk_poses[0], kdl_fk_pose);
+        printf("FK sol\n");
+        for(int i=0; i<4; i++) {
+          for(int j=0; j<4; j++)
+            printf("%1.3f ", kdl_fk_pose(i, j)-kdl_ik_pose(i, j));
+          printf("\n");
+        }
+        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;
+  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

ur_kinematics/ur_moveit_plugins.xml

+<library path="lib/libur10_moveit_plugin">
+  <class name="ur_kinematics/UR10KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
+    <description>
+      Analytic kinematics for the Universal Robots UR10.
+      Developed by Kelsey Hawkins from Georgia Tech.
+      See http://hdl.handle.net/1853/50782 for details.
+    </description>
+  </class>
+</library>
+
+<library path="lib/libur5_moveit_plugin">
+  <class name="ur_kinematics/UR5KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
+    <description>
+      Analytic kinematics for the Universal Robots UR5.
+      Developed by Kelsey Hawkins from Georgia Tech.
+      See http://hdl.handle.net/1853/50782 for details.
+    </description>
+  </class>
+</library>