trac_ik
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aprotyas
ROS 2 port of `trac_ik`, an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL.
From #1, the primitive directives are: - [ ] Write the plugin for moveit2. - [ ] Update moveit documentation about the trac_ik library and about writing said plugins.
Ros2 plugin
Changed kinematics plugin to match kdl CMakeFiles and classes. Can be loaded via: `kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin`. Renamed kinematic_plugin folder to to kinematics, so it more closely matches moveits repo. Tested on...
This is a meta-ticket that I'll use to track progress for multiple smaller items. Notably: - `trac_ik_lib`: (#2) - [x] Migrate parameters business to be `rclcpp` compliant. - [x] ⚠️**API...
I believe the SWIG-based approach has problems, if for nothing else but because of growing troubles with symbol visibility in windows. As such, this PR attempts a rewrite trac_ik_python as...
Chocolatey dependencies are cached to reduce flakiness. Signed-off-by: Abrar Rahman Protyasha
THANKS!
Just wanted to say thank you. You saved me 1 day of work today :) I wonder if you would accept pull requests. I would like to remove the math3d.h...
All packages are missing tests, but `trac_ik_lib` hurts the most from their absence. The goal should be to write some unit tests for the `trac_ik::ik_solver` class, at minimum. This ticket...