I started creating a kinematics plugin for a new analytical inverse kinematic library [1] implemented by @Jmeyer. At the moment it seems to be working, but way to slow [2]. It only does forward/inverse kinematics and you have to specify the geometric parameters in the `kinematics.yalm` config file.
Overall, I had no idea what I was doing. I copied the template from the existing srv_kinematics_plugin [3] and added functions from another package [4] to interface with the inverse kinematics solver.
You can follow the progress by going through the issues on Github [5].
If anyone is interested in using this plugin, feel free to create issues or pull requests.
Thanks, @gavanderhoorn for suggesting this plugin [6].
[[1]](
https://github.com/Jmeyer1292/opw_kinematics), [[2]](
https://github.com/JeroenDM/moveit_opw_kinematics_plugin/issues/7), [[3]](
https://github.com/ros-planning/moveit/tree/kinetic-devel/moveit_kinematics/srv_kinematics_plugin), [[4]](
https://github.com/Jmeyer1292/descartes_opw_model), [[5]](
https://github.com/JeroenDM/moveit_opw_kinematics_plugin), [[6]](
https://github.com/Jmeyer1292/opw_kinematics/issues/1)
(I think it could be interesting to add some MoveIt! tutorials focussed on writing plugins like this an others. But that's a discussion for another topic maybe...)
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