# Invers kinematics without ROS

**URL:** <https://forum.compas-framework.org/t/invers-kinematics-without-ros/508>\
**Category:** compas\_fab\
**Created:** [August 25, 2021, 11:43am UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508 "2021-08-25T11:43:34Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![8H\_Y8](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/8h_y8/32/303_2.png) [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\
**Post date:** [August 25, 2021, 11:43am UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508/1 "2021-08-25T11:43:34Z")

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

Thank you.

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**Author:** ![yck011522](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/yck011522/32/110_2.png) [@yck011522](https://forum.compas-framework.org/u/yck011522)\
**Post date:** [August 27, 2021, 7:25am UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508/2 "2021-08-27T07:25:31Z")

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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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<div class="post-metadata">

**Author:** ![8H\_Y8](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/8h_y8/32/303_2.png) [@8H\_Y8](https://forum.compas-framework.org/u/8H_Y8)\
**Post date:** [August 27, 2021, 7:52am UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508/3 "2021-08-27T07:52:49Z")

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Hi,@yck011522.

Thanks for posting!  
I see.

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**Author:** ![gonzalocasas](https://sea1.discourse-cdn.com/flex015/user_avatar/forum.compas-framework.org/gonzalocasas/32/127_2.png) [@gonzalocasas](https://forum.compas-framework.org/u/gonzalocasas)\
**Post date:** [July 1, 2022, 1:06pm UTC](https://forum.compas-framework.org/t/invers-kinematics-without-ros/508/4 "2022-07-01T13:06:17Z")

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Just for completeness, there is also the Pybullet client integrated now, which can do IK without the need for ROS: [compas\_fab - Analytical kinematics](https://gramaziokohler.github.io/compas_fab/latest/examples/06_backends_kinematics/01_ik_and_cartesian.html)