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yijiangh/openrave-ikfast_dockerfile

Last active September 24, 2024 08:39
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Dockerfile for tweaking openrave-ros docker image for ikfast
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openrave-ikfast_dockerfile
FROM personalrobotics/ros-openrave
RUN apt-get update || true && apt-get install -y --no-install-recommends build-essential python-pip liblapack-dev vim ros-indigo-xacro ros-indigo-collada-urdf && apt-get clean && rm -rf /var/lib/apt/lists/*
RUN pip install sympy==0.7.1
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yijiangh commented Feb 2, 2019

This is documented from this post [1] on ROSAnswers from Gijs.

[1] https://answers.ros.org/question/263925/generating-an-ikfast-solution-for-4-dof-arm/?answer=265625#post-id-265625

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yijiangh commented Feb 2, 2019

A convenient link to openrave database.inverse-kinematics module: http://openrave.org/docs/0.8.2/openravepy/databases.inversekinematics/

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yijiangh commented Sep 7, 2019 •
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  1. docker build -t $DOCKER_IMAGE .

  2. docker run -it -v "%cd%":/output_urdf $DOCKER_IMAGE

  3. source /opt/ros/indigo/setup.bash

  4. in indigo, try rosrun xacro xacro.py model.xacro > model.urdf
    or in kinetic:rosrun xacro xacro -i ur5_robot.urdf.xacro -o ur5.urdf

  5. copy files out: docker cp <container_name>:/catkin_ws/src/ur_description/urdf/ur3.urdf .

  6. follow tutorial here: http://docs.ros.org/kinetic/api/framefab_irb6600_support/html/doc/ikfast_tutorial.html

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