Jeroen

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...

I see your point. I will focus the time I have on improving the moveit_opw_kinematics_plugin. Just wondering, should the pull request for the kinematic parameters be done at the [fanuc](https://github.com/ros-industrial/fanuc)...

@gavanderhoorn I plan on doing the pull request for the kinematic parameter files on this repo, if that's ok with you?

I propose the following pull request: WIP replace ikfast plugin with opw_kinematics for supported robots ------------------------------------------------------------------------------------- - Update the `kinematics.yaml` files for the supported robots. - I can leave the...

> I would probably not use those names though (as `kinematics_solver_` is a prefix used by MoveIt for the parameters for the solvers). Do you suggest a) changing the hard-coded...

Certainly, but I don't have my work laptop with me today and they somehow didn't make it in to my online backup system. I hope tomorrow is ok.

@gavanderhoorn https://github.com/JeroenDM/wip_fanuc_opw_parameters As mentioned I only tested 3 of them, so the others could be completely wrong. Although the the joint sign convention and offset seems to be the same...

### The commits This branch of a cleaned up version of my original development attempts. (See the v5 in the name :), it took me a while to get it...

The `kinetic` build fails with: ``` /root/ros_ws/src/moveit/moveit_planners/ompl/ompl_interface/include/moveit/ompl_interface/model_based_planning_context.h:48:63: fatal error: ompl/base/spaces/constraint/ConstrainedStateSpace.h: No such file or directory ``` I suspect this is because kinetic is using a version of OMPL from before...

@felixvd Thank you for the review! I addressed most of the small comments and fixes. I left some comments unresolved as I added a change that does not necessarily reflect...