Migrate to opw_kinematics for all supported robots

[gavanderhoorn]

Instead of IKFast use Jmeyer1292/opw_kinematics for all robot models and variants we support.

Current status:

• fanuc_cr35ia_support
• fanuc_cr7ia_support
• fanuc_lrmate200i_support
• fanuc_lrmate200ib_support
• fanuc_lrmate200ic_support (partial)
• fanuc_lrmate200id_support
• fanuc_m10ia_support
• fanuc_m16ib_support
• fanuc_m20ia_support
• fanuc_m20ib_support
• fanuc_m430ia_support
• fanuc_m6ib_support (partial)
• fanuc_m710ic_support
• fanuc_m900ia_support
• fanuc_m900ib_support
• fanuc_r1000ia_support

[simonschmeisser]

just came across one "small" issue ... Jmeyer1292/opw_kinematics#11

[gavanderhoorn]

Hm. I had not noticed that.

Let's see what @Jmeyer1292's response is.

[gavanderhoorn]

@Jmeyer1292 changed the license to Apache 2 so licensing would no longer seem to be an issue.

[simonschmeisser]

the MoveIt! plugin by @JeroenDM is Apache since yesterday as well and a first quick test worked quite nicely

[gavanderhoorn]

Did you observe the "low performance" that @JeroenDM was complaining about some time ago?

[simonschmeisser]

@gavanderhoorn it "feels sane" but I'm waiting for moveit/moveit#1272 to actually measure it. I have some other unrelated but huge performance issue that I need to profile first.

[simonschmeisser]

@gavanderhoorn how do we get started with the migration?

[gavanderhoorn]

@simonschmeisser wrote:

@gavanderhoorn how do we get started with the migration?

We'd need "someone" to extract all the required parameters and/or update/check @JeroenDM's work to extract them from the xacros for all the supported robot variants.

Then create pkgs out of those parameters and PR those.

[JeroenDM]

I have some time this weekend to work on the automatic extraction from the urdf / xacro files. But in the short term it is maybe faster to manually get the parameters from the robot and write a good test to check you work. (In any case I will do this for some robots to check the automatic conversion.)

[gavanderhoorn]

As much as I like extracting the parameters from urdfs -- as it would mean less work for users -- it might be best to actually do the work manually and hard-code the parameters in the various plugins / configurations.

We've had users change base xacros in the past (adding tool frames and links, changing tool0 and base fi) which broke the IKFast plugins in various ways (I would say: expected ways, but it wasn't obvious apparently).

As OPW has quite strict requirements on the kinematics of a manipulator for the algorithm to work, supporting automated extraction would seem to increase chances that users try to use any plugin(s) on their own xacros/urdfs, which will most likely fail.

From a maintenance / support perspective, a setup similar to the IKFast plugins (ie: hard-coded to match with one specific kinematic configuration) might actually be preferable.