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Merged
merged 12 commits into from
Nov 1, 2022
Merged

Use generate_parameter_library to load KDL kinematics parameters #1671

merged 12 commits into from
Nov 1, 2022

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@Abishalini
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@Abishalini Abishalini commented Oct 28, 2022 •
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Description

Use generate_parameter_library to load KDL kinematics parameters

How to assign the KDL parameters in kinematics.yaml file

panda_arm:
  kinematics_solver: "kdl_kinematics_plugin/KDLKinematicsPlugin"
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05

  joints: ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"]
  # Default weight for joints is 1.0 
  joint1:
    weight: 2.0
  joint5:
    weight: 1.5

  max_solver_iterations: 200
  epsilon: 0.0001
  orientation_vs_position: 0.2
  position_only_ik: false

TODO:

  • Figure out if any parameters can be removed - Retain all
  • Is there a better way to assign joint weights? - The above method works fine

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

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codecov bot commented Oct 28, 2022 •
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Codecov Report

Base: 51.07% // Head: 51.08% // Increases project coverage by +0.01% 🎉

Coverage data is based on head (a641dd7) compared to base (9ee6623).
Patch coverage: 66.67% of modified lines in pull request are covered.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #1671      +/-   ##
==========================================
+ Coverage   51.07%   51.08%   +0.01%     
==========================================
  Files         381      381              
  Lines       31743    31727      -16     
==========================================
- Hits        16208    16203       -5     
+ Misses      15535    15524      -11
Impacted Files Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp 78.79% <66.67%> (+2.72%) ⬆️

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@Abishalini Abishalini force-pushed the kdl_kinematics_parameters branch 2 times, most recently from 24989ef to 5e8c154 Compare October 29, 2022 02:35
@Abishalini Abishalini marked this pull request as ready for review October 31, 2022 01:06
@Abishalini Abishalini mentioned this pull request Oct 31, 2022
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6 tasks
@tylerjw tylerjw force-pushed the kdl_kinematics_parameters branch from 97edcfa to c0ed1dc Compare October 31, 2022 17:22
@tylerjw tylerjw force-pushed the kdl_kinematics_parameters branch from 89961e0 to 66fef8a Compare October 31, 2022 17:55
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mergify bot commented Oct 31, 2022

This pull request is in conflict. Could you fix it @Abishalini?

@Abishalini Abishalini closed this Oct 31, 2022
@Abishalini Abishalini reopened this Oct 31, 2022
@tylerjw tylerjw merged commit 8eae21f into moveit:main Nov 1, 2022
@Abishalini Abishalini deleted the kdl_kinematics_parameters branch November 1, 2022 18:39
@sea-bass sea-bass mentioned this pull request Mar 18, 2024
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@tylerjw tylerjw tylerjw approved these changes

@henningkayser henningkayser Awaiting requested review from henningkayser

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2 participants

@Abishalini @tylerjw