Generating the IKFast CPP file for the IRB 6640 robot

After getting the link info, we can start generating the IK solver CPP file for handling the IK of this robot.

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

$ python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=irb6640.dae --iktype=transform6d --baselink=1 --eelink=8 --savefile=output_ikfast61.cpp

The preceding command generates a CPP file called output_ikfast61.cpp in which the IK type is transform6d, the position of the baselink is 1, and the end effector link is 8. We need to mention the robot DAE file as the robot argument.

We can test this file using the following procedure:

  1. Download the IKFast demo code file from http://kaist-ros-pkg.googlecode.com/svn/trunk/arm_kinematics_tools/src/ikfastdemo/ikfastdemo.cpp ...

Get Mastering ROS for Robotics Programming now with the O’Reilly learning platform.

O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.

Start your free trial