r1000ia80f: add MoveIt IKFast plugin.

fanuc_r1000ia80f_moveit_config/config/kinematics.yaml

@@ -1,5 +1,5 @@
 manipulator:
-  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver: fanuc_r1000ia80f_manipulator_kinematics/IKFastKinematicsPlugin
+  kinematics_solver_attempts: 3
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3

fanuc_r1000ia80f_moveit_config/package.xml

@@ -30,6 +30,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <exec_depend>fanuc_r1000ia_support</exec_depend>
+  <exec_depend>fanuc_r1000ia_moveit_plugins</exec_depend>
   <exec_depend>industrial_robot_simulator</exec_depend>
   <exec_depend>joint_state_publisher</exec_depend>
   <exec_depend>moveit_fake_controller_manager</exec_depend>

fanuc_r1000ia_moveit_plugins/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(fanuc_r1000ia_moveit_plugins)
+
+find_package(catkin REQUIRED COMPONENTS
+  moveit_core
+  pluginlib
+  roscpp
+  tf_conversions
+)
+
+include_directories(${catkin_INCLUDE_DIRS})
+
+find_package(LAPACK REQUIRED)
+
+catkin_package(
+  LIBRARIES
+  CATKIN_DEPENDS
+    moveit_core
+    pluginlib
+    roscpp
+    tf_conversions
+)
+
+add_subdirectory(r1000ia80f_kinematics)
+
+install(FILES readme.md DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

fanuc_r1000ia_moveit_plugins/package.xml

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>fanuc_r1000ia_moveit_plugins</name>
+  <version>0.1.0</version>
+  <description>
+    <p>
+      MoveIt plugins for the Fanuc R-1000iA (and variants).
+    </p>
+    <p>
+      This package contains plugins for use with MoveIt and Fanuc R-1000iA
+      manipulators. Plugins included support the /80F variant. See the Fanuc
+      R-1000iA support package for information on used joint angle and
+      velocity limits.
+    </p>
+    <p>
+      Before using any of the plugins included in this package, be sure to
+      check they are correct for the particular robot model and configuration
+      you intend to use them with.
+    </p>
+  </description>
+  <author>G.A. vd. Hoorn (TU Delft Robotics Institute)</author>
+  <maintainer email="g.a.vanderhoorn@tudelft.nl">G.A. vd. Hoorn (TU Delft Robotics Institute)</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://wiki.ros.org/fanuc_r1000ia_moveit_plugins</url>
+  <url type="bugtracker">https://github.com/ros-industrial/fanuc_experimental/issues</url>
+  <url type="repository">https://github.com/ros-industrial/fanuc_experimental</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>liblapack-dev</depend>
+  <depend>moveit_core</depend>
+  <depend>pluginlib</depend>
+  <depend>roscpp</depend>
+  <depend>tf_conversions</depend>
+
+  <export>
+    <moveit_core plugin="${prefix}/r1000ia80f_kinematics/fanuc_r1000ia80f_manipulator_moveit_ikfast_plugin_description.xml"/>
+    <rosindex>
+      <tags>
+        <tag>moveit</tag>
+        <tag>ikfast</tag>
+        <tag>kinematics</tag>
+        <tag>fanuc</tag>
+        <tag>industrial</tag>
+        <tag>ros-industrial</tag>
+        <tag>r1000ia</tag>
+        <tag>experimental</tag>
+      </tags>
+    </rosindex>
+  </export>
+</package>

fanuc_r1000ia_moveit_plugins/r1000ia80f_kinematics/CMakeLists.txt

@@ -0,0 +1,15 @@
+
+include_directories(include)
+
+set(IKFAST_LIBRARY_NAME fanuc_r1000ia80f_manipulator_moveit_ikfast_plugin)
+
+add_library(${IKFAST_LIBRARY_NAME} src/fanuc_r1000ia80f_manipulator_ikfast_moveit_plugin.cpp)
+target_link_libraries(${IKFAST_LIBRARY_NAME} ${catkin_LIBRARIES} ${Boost_LIBRARIES} ${LAPACK_LIBRARIES})
+
+install(
+  TARGETS ${IKFAST_LIBRARY_NAME}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+
+install(
+  FILES fanuc_r1000ia80f_manipulator_moveit_ikfast_plugin_description.xml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/r1000ia80f_kinematics)

fanuc_r1000ia_moveit_plugins/r1000ia80f_kinematics/fanuc_r1000ia80f_manipulator_moveit_ikfast_plugin_description.xml

@@ -0,0 +1,6 @@
+<?xml version='1.0' encoding='ASCII'?>
+<library path="lib/libfanuc_r1000ia80f_manipulator_moveit_ikfast_plugin">
+  <class name="fanuc_r1000ia80f_manipulator_kinematics/IKFastKinematicsPlugin" type="ikfast_kinematics_plugin::IKFastKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
+    <description>IKFast61 plugin for closed-form kinematics for the Fanuc R-1000iA/80F</description>
+  </class>
+</library>