Port "IKFast Kinematics Solver" tutorial

[bostoncleek]

Port tutorial to ROS2.

[robosherpa]

Hi @bostoncleek,

Is it okay if I take this issue? If you have any pointers for takers of this issue, I would totally appreciate that too.

For confirmation, Is this the tutorial we are looking to update in this issue?

Thanks!

[vatanaksoytezer]

Hi @robosherpa,

Thank you for interest! That is the tutorial we are looking to port. We would be more than happy if you help us porting it.

I don't have any specific pointers, but you can take other ported tutorials as a reference.

Feel free to ask if you have any questions while porting it.

[vatanaksoytezer]

I just noticed https://github.com/ros-planning/moveit2/blob/main/moveit_kinematics/ikfast_kinematics_plugin/scripts/auto_create_ikfast_moveit_plugin.sh is not ported to moveit2 yet. So you would need to port this as well while working on this tutorial. There may be other unported stuff in ikfast on moveit2, so I would suggest making a list of what work needs to be done first and posting it here to better evaluate what needs to be done to port this tutorial.

[robosherpa]

@vatanaksoytezer Thanks for chiming in.

After some study, I discovered that this ticket is outstanding since there are a few other blocking tickets in the list of tutorials, especially the early ones following Moveit Commander Tutorial . So, the order of update seems to go as follows:

• Python Commander Tutorial
• Move Group Python Interface
• Moveit Visualization Tutorial

It appears like Python interfaces have a few pending updates in their dependencies. I am likely seeing only the tip of the iceberg at this point, however.

[tylerjw]

Not yet ported: https://moveit.picknik.ai/main/doc/examples/ikfast/ikfast_tutorial.html