IK solvers for the Motoman robot

motoman_ik includes a number of standard ROS packages, so installation from source is straightforward.

1. cd <<your-catkin-workspace>>/src
2. git clone git@github.com:WPI-ARC/motoman_ik.git
3. cd ..
4. catkin_make

The kinematics plugin is loaded within a MoveIt group called arms, it can be controlled by the standard MoveIt interface. When specifying poses, first specify the left pose, then the right pose.

For basic usage, launch with roslaunch motoman_wpi_moveit_config demo.launch.

• generalik_kinematics_plugin: A MoveIt kinematics plugin for the motoman sda10f based on GeneralIK. It allows IK to be solved for both end-effectors simultaneously using an iterative jacobian method.
• motoman_wpi_moveit_config: A MoveIt configuration for the motoman sda10f that uses the generalik_kinematics_plugin and has a few other tweaks in the srdf. It is a fork of motoman_sda10f_moveit_config.