Inverse Kinematics with Moveit! - LCAS/RBT1001 GitHub Wiki

:arrow_forward: :desktop_computer: 1. In the editor, open the file RBT1001/src/week6/inverse_kinematics_moveit.py. This script already has the implementation that utilises a default Inverse Kinematics Package from Moveit.

:arrow_forward: :desktop_computer: 2. Launch the visualiser with ros2 launch mecharm_moveit_config launch_ik.launch.py to visualise our robot.

:arrow_forward: :desktop_computer: 3. Launch the inverse kinematics script python3 src/week6/inverse_kinematics_moveit.py. As you move the "Target pose control" marker, you should see the results from the IK function printed on the terminal and the robot will assume the found configuration.

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:arrow_forward: :mag_right: Try to move to different target positions and check in which conditions the IK function works and when it fails instead.