You're reading from Mastering ROS for Robotics Programming, Third edition - Third Edition

Product typeBook

Published inOct 2021

PublisherPackt

ISBN-139781801071024

Edition3rd Edition

Tools

Robot Framework Robot Framework

Concepts

Robotics

Authors (2):

Lentin Joseph

Jonathan Cacace

View More author details

Generating the IKFast CPP file for the IRB 6640 robot

After getting the link information, we can start to generate the inverse kinematic solver source file for handling the IK of this robot. All the files needed to follow the tutorial of this section are available in the source code folder, ikfast_demo, provided with this book. Alternatively, you can download this code by cloning the following Git repository:

git clone https://github.com/jocacace/ikfast_demo.git

Use the following command to generate the IK solver for the ABB IRB 6640 robot:

python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=irb6640.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=ikfast61.cpp

The preceding command generates a CPP file called ikfast61.cpp, in which the IK type is transform6d, the position of the baselink link is 1, and the end effector link is 8. We need to mention the robot DAE file as the robot argument.

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Mastering ROS for Robotics Programming, Third edition - Third Edition

Published in: Oct 2021Publisher: PacktISBN-13: 9781801071024

Authors (2)

Lentin Joseph

Lentin Joseph is an author and robotics entrepreneur from India. He runs a robotics software company called Qbotics Labs in India. He has 7 years of experience in the robotics domain primarily in ROS, OpenCV, and PCL. He has authored four books in ROS, namely, Learning Robotics using Python, Mastering ROS for Robotics Programming, ROS Robotics Projects, and Robot Operating System for Absolute Beginners. He is currently pursuing his master's in Robotics from India and is also doing research at Robotics Institute, CMU, USA.
Read more about Lentin Joseph

Jonathan Cacace

Jonathan Cacace was born in Naples, Italy, on December 13, 1987. He received his Master's degree in computer science, and a Ph.D. degree in Information and Automation Engineering, from the University of Naples Federico II. Currently, he is an Assistant Professor at the University of Naples Federico II. He is also a member of PRISMA Lab where he is involved in different research projects focused on industrial and service robotics in which he has developed several ROS-based applications integrating robot perception and control.
Read more about Jonathan Cacace

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