Invers kinematics without ROS

Hello, everyone.
I have a question about compas_fab.
There are examples of how “forward_kinematics” can be used without activating ROS, but is it always necessary to use ROS to use “inverse_kinematics”?

Thank you.

@8H_Y8 Yea, that seems to be the case. FK is relatively simple (mathematically). IK (and potentially with collision avoidance) is much more complicated and is dedicated to a backend (such as Moveit in ROS).

1 Like


Thanks for posting!
I see.