trac_ik

ROS 2 port of trac_ik, an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL.

This repo contains 5 ROS 2 pacakges:

• trac_ik: A "metapackage" for the examples, C++/Python libraries, and the MoveIt! plugin.
• trac_ik_examples: Contains an example on how to use the standalone TRAC-IK C++ library.
• trac_ik_lib: The TRAC-IK kinematics code, builds a .so library that can be used as a drop in replacement for KDL's IK functions for KDL chains. Details for use are in trac_ik_lib/README.md.
• trac_ik_kinematics_plugin: Provides a MoveIt! plugin that can replace the default KDL plugin for MoveIt! with TRAC-IK for use in planning. Details for use are in trac_ik_kinematics_plugin/README.md.
• trac_ik_python: SWIG based Python wrapper to use TRAC-IK. Details for use are in trac_ik_python/README.md.

Link to the original repository: https://bitbucket.org/traclabs/trac_ik/src/master/