Getting all possible joints for goal-state

[bfis...@gmail.com]

Hi to all!

I would like to know if there's a way in moveit to get all possible IK-joint values (all IK-solutions which also have no collisions in the planning scene) to choose the goal-joints out of them.
I'm using the RRTConnectkConfigDefault-planner with an UR5.

Has anybody some experience with that?

Thanks and regards

[Shaun Edwards]

We have a PR open to address this need ( https://github.com/ros-planning/moveit_core/pull/231 ).  Even accepted, this capability will only be available to those IK solvers that chose to support it.  We have an associated PR that enables support in IKFast generated solutions: https://github.com/ros-planning/moveit_ikfast/pull/50.

[bfis...@gmail.com]

Thanks @Shaun Edwards for your answer and the links to the PR.
So if I understand you correctly, it will not be possible for me with my current setup, using the default IK-solver of the UR-package to get the functionality of getMultipleIk(..). I would need to switch on IKFast, right?

Unfortunately there seem to be problems with UR and IKFast and if I get it right from the issue here it is not recommended to switch to IKFast with an UR.

Is there a possibilty to get that feature with the supported UR-setup?

Thanks and regards

[Shaun Edwards]

See Jorge Nicho's response:

Shaun,

The custom ik fast implementation  here works well in my experience; in fact what we used for the ROS-I training here are those ur ik source files with some minor tweaks.  Exposing the all  the ik joint solutions was done by inheriting from the custom ur kinematics and adding a “getAllIk()” method that mimics the “getPositionIK” method but instead collects all the solutions into an array of arrays and then returns.

[bfis...@gmail.com]

In the second link I was looking for the tweak you made to expose all the IK-joint solutions, the method "getAllIk()", but I couldn't find it.
Could you maybe show me the steps I need to take here to get this functionality?
I would highly appreciate it!! Please consider I'm still quite new to this and am a bit lost at the moment with all the repositorys, issues and so on...

Thanks and regards

[Jorge Nicho]

Hello,

The getAllIK() method implementation can be found here https://github.com/ros-industrial/industrial_training/blob/indigo-devel/training/ref/demo_descartes/src/ur5_demo_descartes/src/ur5_robot_model.cpp#L58.