sns_ik

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ROS Noetic ?

1

Hi, Is there any plan to extend this algorithm for ROS noetic as well?

Giggus

Make multitask MATLAB script more robust

1

Fixes a bug where joint velocities could exceed joint limits in cases where dropCorrectionTerm was not used. Removed need to rerun algorithm with dropCorrectionTerm once the DoF is less than...

Mark-Finegan

Fix reference to local variable

1

KDL::ChainFkSolverPos_recursive is holding a reference to the KDL::Chain and should be passed a chain that is owned by SNSPositionIK

jfdupuis

Is the Fast-SNS and/or FastOpt-SNS solvers available for Matlab as well?

2

I have been using some of the SNS solvers for Matlab and find them very usefull! But I would like to also benefit from the Fast-SNS and/or FastOPT-SNS solvers as...

sondretordal

SNS_IK in ROS2

3

It's worth considering how we want to release SNS_IK into ROS2. AFAIA, we currently have few dependencies on ROS itself - excluding the build system I'm only aware of the...

chris-smith

- added sns acceleration ik class and SNS_Base_Acc type - added Jacobian dot computation - created unit test with sawyer model - fixed some bugs in sns_ik_acc_base and sns_ik_vel_base codes...

robodreamer

The current tests (runGeneralVel/AccIkTest) only work with Ubuntu 14.04 with Eigen 3.2.0.

robodreamer

Issues regarding small IK Twists (~1e-6)

1

@MatthewPeterKelly can you add some extra color here?

IanTheEngineer

The failing test is inside: `sns_ik_lib/test/sns_ik_vel_test.cpp`: ``` TEST(sns_ik, vel_ik_SNS_Optimal_test) { runSnsVelkTest(23539, sns_ik::VelocitySolveType::SNS_Optimal); } ``` This test should be commented out for now, to allow for CI testing. Longer term, we...

IanTheEngineer

Clean up the Matlab Implementation

1

The SNS-IK library has a Matlab implementation. At this point, the Matlab code is intended for debugging and for doing basic algorithm testing before implementing the production version in C++....

MatthewPeterKelly