[ros-users] Bug in IKFastPlugin for 7DOF arms

Juan Pablo Gonzalez jpgonzal at yahoo.com
Fri Feb 1 15:53:50 UTC 2013


It is related, but not the same one. My fix requires a sign change in four
lines, and restores the search along the redundant DOF, which brings it in
line with similar calls in the PR2 code. Their fix is a much broader patch
that adds new functionality (or re-enables it), but it also changes
getCount in a way that I am not sure is consistent with the initial
approach. It's worth a code review, but I don't know when I'll have a
chance to do that.

Juan Pablo



Is you bug related/the same as this one:

Shaun Edwards

Senior Research Engineer

Manufacturing System Department




Join the ROS-Industrial Developers

Southwest Research Institute


*From:* ros-users-bounces at code.ros.org [mailto:
ros-users-bounces at code.ros.org] *On Behalf Of *Juan Pablo Gonzalez
*Sent:* Friday, February 01, 2013 8:53 AM
*To:* ros-users at code.ros.org
*Subject:* [ros-users] Bug in IKFastPlugin for 7DOF arms

Hi All,

I found a bug in the IKFastPlugin that prevents it from finding all the IK
solutions in 7DOF arms. I already created a ticket
https://code.google.com/p/kaist-ros-pkg/issues/detail?id=1, but since this
affects several IKFast-based solvers and tutorials is there somewhere else
that I should report this?


Juan Pablo Gonzalez


Juan Pablo Gonzalez, PhD
General Dynamics Robotic Systems
1501 Ardmore Blvd
Pittsburgh, PA, 15221
Office: (412) 473-2164
Cell:   (412) 606-1367
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