Thanks, Morgan. I'm trying this out right now. On Sat, Jul 17, 2010 at 11:37 AM, Morgan Quigley wrote: > Hi Dave, > > The Orocos KDL library is great. I just switched to it last week; my > code is pretty ugly, but it's using the KDL::ChainIkSolverPos_NR_JL > class, which has joint limits: > > http://stanford-ros-pkg.googlecode.com/svn/trunk/openarms/control/goto_cart.cpp > > The ik_tool() function is what you're after. You set the joint limits > when you construct the ChainIkSolverPos_NR_JL object; search for > "ik_solver_pos" in that .cpp file to see the exact syntax. > > (sorry about all the commented code... it's a work in progress) > > HTH, > Morgan > > > On Sat, Jul 17, 2010 at 10:43 AM, David Feil-Seifer > wrote: >> I am trying to replicate the IK-functionality of pr2_arm_navigation >> for our humanoid robot, Bandit. I have attached a xacro file for it's >> arm. I have it rendering correctly, and am able to have it mimic the >> movements of a real Bandit with joint_states_publisher and a >> /joint_states message. I seem to have correctly ported >> pr2_arm_ik_solver and pr2_arm_kinematics by simply changing all 7's to >> 6's and changing the names of the root and tip links >> (bandit_torso_link and left/right_hand_link). However, I'm having >> trouble with pr2_arm_ik.cpp. Clearly, the math here was meant for a >> 7-DOF arm, and I don't really know what algorithm is being used here, >> so I'm having trouble translating that to a 6-DOF arm. I have figured >> out that in the init function, that I needed to change the >> link_offsets for the shoulder_upperarm_offset, elbow_wrist offset, and >> upperarm_elbow_offset values. Those are now correct. I am just having >> trouble making computeIKShoulderPan and computeIKShoulderRoll to a 6 >> joint arm. Can anyone give me some guidance on how to proceed? >> >> I did look at the KDL examples on their website, but they were pretty >> vague about creating an IK solver with joint limits. >> >> Thanks for your help. >> -Dave >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >