Ranged IK ROS1

Introduction

You can find an introduction and the citation information of RangedIK in the README of RelaxedIK Core which is a submodule of this repo. It is recommended to look at RelaxedIK Core before working with this wrapper.

The RelaxedIK Family

RangedIK extends RelaxedIK by leveraging the flexibility afforded by tolerances. Also, RangedIK is recently maintained and works with more recent rust versions.

CollisionIK extends RelaxedIK by avoiding collisions with static or dynamic obstacles in the environment.

We provide a series of wrappers for our tools to be used in various platform or software.

	ROS1	ROS2	WebAssembly	Coppeliasim	Mujoco
RangedIK	link	link	link	x	x
CollisionIK	link	x	x	x	x
RelaxedIK	link	x	x	link	link

Dependencies

Python Dependencies

readchar:

sudo pip install readchar

Pyyaml:

sudo pip install PyYaml

Rust Dependencies

To use this wrapper, you will first need to install Rust. Please go to https://www.rust-lang.org/learn/get-started for more infomation.

Getting Started

1. Compile relaxed_ik_core

2. Download mesh files for robots:

   UR5: https://github.com/ros-industrial/universal_robot

   Sawyer: https://github.com/RethinkRobotics/sawyer_robot

   Spot arm: https://github.com/heuristicus/spot_ros

   Baxter: https://github.com/RethinkRobotics/baxter_common

3. catkin_make

4. Start a demo with the Sawyer robot

   roslaunch relaxed_ik_ros1 demo.launch

   if you want use a different robot, pass the absolute path to the setting file as an argument

   roslaunch relaxed_ik_ros1 demo.launch setting_file_path:=<your absolute path to the setting file>

5a. To move the robot using keyboard, open a new terminal

rosrun relaxed_ik_ros1 keyboard_input.py

And then use the folloing commands to move the robot.

c - kill the controller controller script
w - move chain 1 along +X
x - move chain 1 along -X
a - move chain 1 along +Y
d - move chain 1 along -Y
q - move chain 1 along +Z
z - move chain 1 along -Z
1 - rotate chain 1 around +X
2 - rotate chain 1 around -X
3 - rotate chain 1 around +Y
4 - rotate chain 1 around -Y
5 - rotate chain 1 around +Z
6 rotate chain 1 around -Z

5b. To trace a predefined trajectory

rosrun relaxed_ik_ros1 line_tracing.py _tolerances:=[0,0,0,0,0,999]

which allows the end-effector to freely rotate allow the z axis. If you don't want to use tolerances, set the _tolerances arguments to all zeros. The script use ROS service by default. To use ROS topic, set parameter _use_topic_not_service:=True