Mastering ROS for Robotics Programming - Second Edition

OpenRave and IK Fast modules

OpenRave is a set of command lines and GUI tools for developing, testing, and deploying motion planning algorithms in real-world applications. One of the OpenRave modules is IKFast, which is a robot kinematics compiler. OpenRave was created by a robotic researcher called Rosen Diankov. The IKFast compiler analytically solves the inverse kinematics of a robot and generates optimized and independent C++ files, which can be deployed in our code for solving IK. The IKFast compiler generates analytic solutions of IK, which is much faster than numerical solutions provided by KDL. The IKFast compiler can handle any number of DOFs, but practically it is well suited for DOF <= 6. IKFast is a Python script that takes arguments ...