ROS Programming: Building Powerful Robots

Creating the MoveIt! IKFast plugin

Creating a MoveIt! IKFast plugin is easy. There is no need to write code; everything can be generated using some tools. The only thing we need to do is to create an empty ROS package. The following are the procedures to create a plugin:

1. Switch to the ros_industrial workspace in the src folder:

    $ cd ~/ros_industrial_ws/src
  

2. Create an empty package in which the name should contain the robot name and model number. This package is going to convert into the final plugin package using the plugin generation tool:

    $ catkin_create_pkg abb_irb6640_moveit_plugins
  

3. Build the workspace using the catkin_make command.
4. After building the workspace, copy ikfast.h to abb_irb6640_moveit_plugins/include

5. Switch to the ...