katana_kinematics_constraint_aware Documentation

katana_kinematics_constraint_aware: A kinematics plugin for the Katana 450 arm based on OpenRave IK and urdf-based FK

This package provides an plugin implementation of the kinematics_base interface to establish constraint aware kinematics services. The plugin combines the OpenRave IK service from the orroplanning package and the generic urdf-based FK from the arm_kinematics package. To provide constraint_aware services the plugin must be used with the arm_kinematics_constraint_aware node of the respective package.

Additionally, the non_constraint_aware_ik_adapter node provides the get_constraint_aware_ik service. It just strips away all the constraint aware stuff and calls a normal (non-constraint aware) get_ik service instead.

Normally, get_constraint_aware_ik checks the space of potential IK solutions (from get_ik) for a solution that obeys all constraints (i.e., a solution that is not in self-collision or in collision with the environment). That only really makes sense for a redundant (>6 DoF) robot arm. Since the Katana only has 5 DoF, we only get at most one IK solution, so there is nothing to filter.

If we return a solution that violates constraints - for instance, that is in self-collision - then move_arm will abort with an error code. But if the solution is valid, everything should work.

katana_kinematics_constraint_aware is ...

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katana_kinematics_constraint_aware
Author(s): Henning Deeken, Martin Günther
autogenerated on Tue Mar 5 2013 15:20:34