Invers kinematics without ROS

compas_fab
1

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”?

https://gramaziokohler.github.io/compas_fab/latest/examples/03_backends_ros/03_forward_and_inverse_kinematics.html

Thank you.

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@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).

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Hi,@yck011522.

Thanks for posting!
I see.

4

Just for completeness, there is also the Pybullet client integrated now, which can do IK without the need for ROS: compas_fab - Analytical kinematics

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