Use opw_kinematics instead of trac-ik for IRB1200 (#138)

Co-authored-by: Simon Schmeisser <[email protected]> Co-authored-by: Christian Jülg <[email protected]>
ros-industrial · Oct 4, 2022 · 97cdd97 · 97cdd97
1 parent a5d70ca
commit 97cdd97
Show file tree

Hide file tree

Showing 4 changed files with 24 additions and 10 deletions.
diff --git a/abb_irb1200_5_90_moveit_config/config/kinematics.yaml b/abb_irb1200_5_90_moveit_config/config/kinematics.yaml
@@ -1,5 +1,12 @@
 manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  kinematics_solver: moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin
+  opw_kinematics_geometric_parameters:
+      a1:  0
+      a2: -0.042
+      b:   0.0
+      c1:  0.3991
+      c2:  0.448
+      c3:  0.451
+      c4:  0.082
+  opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
+  opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1]
diff --git a/abb_irb1200_5_90_moveit_config/package.xml b/abb_irb1200_5_90_moveit_config/package.xml
@@ -37,7 +37,7 @@
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
   <exec_depend>rviz</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
+  <exec_depend>moveit_opw_kinematics_plugin</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>

diff --git a/abb_irb1200_7_70_moveit_config/config/kinematics.yaml b/abb_irb1200_7_70_moveit_config/config/kinematics.yaml
@@ -1,5 +1,12 @@
 manipulator:
-  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
-  kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  kinematics_solver: moveit_opw_kinematics_plugin/MoveItOPWKinematicsPlugin
+  opw_kinematics_geometric_parameters:
+      a1:  0
+      a2: -0.042
+      b:   0.0
+      c1:  0.3991
+      c2:  0.350
+      c3:  0.351
+      c4:  0.082
+  opw_kinematics_joint_offsets: [0.0, 0.0, deg(-90.0), 0.0, 0.0, 0.0]
+  opw_kinematics_joint_sign_corrections: [1, 1, 1, 1, 1, 1]
diff --git a/abb_irb1200_7_70_moveit_config/package.xml b/abb_irb1200_7_70_moveit_config/package.xml
@@ -37,7 +37,7 @@
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
   <exec_depend>rviz</exec_depend>
-  <exec_depend>trac_ik_kinematics_plugin</exec_depend>
+  <exec_depend>moveit_opw_kinematics_plugin</exec_depend>
   <exec_depend>xacro</exec_depend>
 
   <export>