Awesome

Relaxed IK ROS1

Introduction

You can find an introduction and the citation information of RelaxedIK in the README of RelaxedIK Core which is a submodule of this repo. It is recommended to look at RelaxedIK Core before working with this wrapper.

Relaxed IK ROS1 has the complete set of features available in the Relaxed IK family and it is also where CollisionIK and Pathwise CollisionIK (In development) reside. If you doesn't have strong preferences over any specific wrapper, you probably should consider this ROS1 wrapper as the first choice. A keyboard pose goal driver and an rviz viewer are provided for driving the robot's end-effector around in a simulated environment.

Relaxed IK Family

More information about Relaxed IK, CollisionIK, and all the wrappers could be found in this documentation.

	Relaxed IK (Deprecated)	Relaxed IK ROS1	Relaxed IK Unity	Relaxed IK Coppeliasim	Relaxed IK Mujoco
Relaxed IK	:o:	:o:	:o:	:o:	:o:
CollisionIK	:x:	:o:	:x:	:x:	:x:

Dependencies

Python Dependencies

readchar:

sudo pip install readchar

fcl collision library: https://github.com/BerkeleyAutomation/python-fcl

sudo pip install python-fcl

scipy:

sudo pip install scipy

Pyyaml:

sudo pip install PyYaml

Pypcd: https://github.com/dimatura/pypcd Lastly, update your version of numpy:

sudo pip install --upgrade numpy

Rust Dependencies

To use this wrapper, you will first need to install Rust. Please go to https://www.rust-lang.org/learn/get-started for more infomation.

Getting Started

Make sure that you have installed all the dependencies.
Clone this repo to the src directory in your catkin workspace.
Build your catkin workspace by using catkin_make in the workspace root directory.
Initialize relaxed_ik_core (the Rust library of Relaxed IK) as a submodule by running the following command from the project directory:
```
git submodule update --init
```
Navigate to the relaxed_ik_core folder and go through the steps below to get relaxed_ik_core ready.
1. If your robot is in this list: [baxter, hubo, iiwa7, jaco7, panda, sawyer, ur5, yumi], ignore this step. Else, you will need to clone this repo and follow the step-by-step guide there to get the required robot config files into corresponding folders in the config folder in the core. To specify, there should be (replace "sawyer" with your robot name or your urdf name in some cases):
  - 1 self-collision file <collision_sawyer.yaml> in the collision_files folder
  - 4 Rust neural network files <sawyer_nn, sawyer_nn.yaml, sawyer_nn_jointpoint, sawyer_nn_jointpoint.yaml> in the collision_nn_rust folder
  - 1 info file <sawyer_info.yaml> in the info_files folder
  - 1 joint state function file <sawyer_joint_state_define> in the joint_state_define_functions folder
  - 1 urdf file <sawyer.urdf> in the urdfs folder.
2. Compile the core:
```
cargo build
```
Look at <settings.yaml> in the folder relaxed_ik_core/config and follow the instructions there to customize the parameters, change the input device, and manage the environment obstacles. Note that you don't need to recompile relaxed_ik_core every time you change the parameters in <settings.yaml>.
View the robot arm in rviz by typing the following command:
```
roslaunch relaxed_ik_ros1 rviz_viewer.launch
```
Launch the Relaxed IK solver by typing the following command:
```
roslaunch relaxed_ik_ros1 relaxed_ik_rust.launch
```
Set a ROS parameter to start the simulation:
```
rosparam set /simulation_time go
```

[For Testing purposes] Control the robot based on the type of input device in <settings.yaml>. If you set the robot follow a given cartesian trajectories, you should see the robot moving now! Some examples of cartesian trajectories are provided in the folder animation_files. If you set the input_device to be keyboard, initialize the keyboard IK goal driver in a new terminal. The driver listens to 6-DOF pose goals and publishes robot joint angles.

rosrun relaxed_ik_ros1 keyboard_ikgoal_driver.py

To use the keyboard controller, please ensure that the termainal window where <keyboard_ikgoal_driver.py> was run from has focus (i.e., make sure it's clicked), then use the following keystrokes:

c - kill the controller controller script
w - move chain 1 along +X
x - move chain 1 along -X
a - move chain 1 along +Y
d - move chain 1 along -Y
q - move chain 1 along +Z
z - move chain 1 along -Z
1 - rotate chain 1 around +X
2 - rotate chain 1 around -X
3 - rotate chain 1 around +Y
4 - rotate chain 1 around -Y
5 - rotate chain 1 around +Z
6 rotate chain 1 around -Z

i - move chain 2 along +X
m - move chain 2 along -X
j - move chain 2 along +Y
l - move chain 2 along -Y
u - move chain 2 along +Z
n - move chain 2 along -Z
= - rotate chain 2 around +X
- - rotate chain 2 around -X
0 - rotate chain 2 around +Y
9 - rotate chain 2 around -Y
8 - rotate chain 2 around +Z
7 - rotate chain 2 around -Z

Existing Issues

This wrapper only support the XYZ-like point cloud file format currently. Please refer to the geometry files in the folder geometry_files for some examples.