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

[Mr David Butterworth]

Juan,

Thanks for testing the plugin with your 7 DOF arm, it needed to be done.

I'll take a look at the searchPositionIK() methods.   Would you mind sending me enough files so I can launch your robot please, plus any particular joint angles you were testing?  (off-list if you prefer)

Also, do people agree that getPositionIK() should only return the first solution?  I think this was deliberate, and the logical choice.


Regards,
David.

Maintainer, KAIST-ROS-Pkg


________________________________
From: ros-users-bounces at code.ros.org [ros-users-bounces at code.ros.org] on behalf of Juan Pablo Gonzalez [jpgonzal at yahoo.com]
Sent: Saturday, 2 February 2013 3:18 AM
To: ros-users
Subject: Re: [ros-users] Bug in IKFastPlugin for 7DOF arms

I should add that the restoring the search along the redundant DOF should find the solution that is closest to the seed when using searchPositionIK. Since the intended design searches for new solution by stepping away from the seed in discrete increments, the solution closest to the seed should be found first. From that point of view maybe the two bugs are indeed the same.

On Fri, Feb 1, 2013 at 10:53 AM, Juan Pablo Gonzalez <jpgonzal at yahoo.com<mailto:jpgonzal at yahoo.com>> wrote:
Shaun,

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

====================
Juan,

Is you bug related/the same as this one: http://openrave-users-list.185357.n3.nabble.com/ROS-KDLArmKinematicsPlugin-and-IKFastKinematicsPlugin-td4025943.html

Shaun Edwards
Senior Research Engineer
Manufacturing System Department


http://robotics.swri.org
http://rosindustrial.swri.org/
http://ros.swri.org<http://ros.swri.org/>
Join the ROS-Industrial Developers List<https://groups.google.com/group/swri-ros-pkg-dev/boxsubscribe>
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From: ros-users-bounces at code.ros.org<mailto:ros-users-bounces at code.ros.org> [mailto: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<mailto: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?

Thanks,

Juan Pablo Gonzalez

________________________________________________________

Juan Pablo Gonzalez, PhD
General Dynamics Robotic Systems
1501 Ardmore Blvd
Pittsburgh, PA, 15221
Office: (412) 473-2164<tel:%28412%29%20473-2164>
Cell:   (412) 606-1367<tel:%28412%29%20606-1367>

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