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ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

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Package Summary

Tags No category tags.
Version 0.1.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description A collection of control algorithms for autonomous underwater vehicles implemented using ros2_control.
Checkout URI https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type git
VCS Version main
Last Updated 2025-04-27
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags robotics underwater-robotics robotic-control ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

  • Evan Palmer

Authors

  • Evan Palmer
ik_solvers/README.md

Inverse Kinematics Solvers

This package implements inverse kinematics (IK) solvers for IK control.

Closed-Loop Task Priority Inverse Kinematics Solver

A singularity-robust IK solver proposed by Moe, et al. 1. The solver implements joint limit constraints (using the joint limits defined in the robot description) and end-effector pose tracking. The Jacobian pseudoinverse is calculated using the damped least squares method.

“Set-Based Tasks within the Singularity-Robust Multiple Task-Priority Inverse Kinematics Framework: General Formulation, Stability Analysis, and Experimental Results”, in Frontiers in Robotics and AI, 2016.

Plugin Library

ik_solvers/task_priority_solver

  1. S. Moe, G. Antonelli, A. R. Teel, K. Y. Pettersen, and J. Schrimpf, ↩

CHANGELOG

Changelog for package ik_solvers

0.1.0 (2025-04-27)

  • Implements a task priority IK solver with support for end effector pose tracking and joint limits

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

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Messages

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Services

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Plugins

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Recent questions tagged ik_solvers at Robotics Stack Exchange

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