[cob_kinematics] remove?

[fmessmer]

@ipa-mdl
Is there anything about cob_kinematics package that is worth to be kept?

[mathias-luedtke]

Is there a reason to delete it?
It features a urdf2openrave converter.

[fmessmer]

I wasn't aware of that....maybe we should put that somewhere more prominent then!
Would this be helpful for generating COLLADA models for e.g. SDHX gripper in order to generate grasps with cob_grasp_generation (see #70)?

[fmessmer]

However, we do not compile it (https://github.com/ipa320/cob_manipulation/blob/indigo_dev/cob_kinematics/CMakeLists.txt#L22)
Does it still compile?

[fmessmer]

@ipa-mdl
Is the converter related or derived from any of these:

• http://wiki.ros.org/collada_urdf
• https://github.com/personalrobotics/or_urdf

[mathias-luedtke]

No, its unrelated.
However, https://github.com/personalrobotics/or_urdf seems to cover much more aspects..
My implementation just reads an URDF and outputs an OpenRAVE XML (http://openrave.programmingvision.com/wiki/index.php/Format:XML) with the kinematic structure.

[mathias-luedtke]

I just noticed that it does not have any install tags..

[fmessmer]

There is a ìkfast_kinematics_plugin in moveit_kinematics and a Tutorial here

IKFast requires OpenRAVE (it seems to be relying on version 0.8) which has to be installed manually anyway (no rosdep entry)

@ipa-mdl
Do you think it is worth keeping this package then?
The yaml's in the config are out of date....although the generated cpp-files still might be usable....but I don't know....and we do not install anyway...and it hasn't been used since electric...:wink:

I vote for removal!

I guess the only additional features not included in moveit are

• GetPositionIKExtended.srv
• and the converter tool (which seems to be replacable by the tools mentioned in [cob_kinematics] remove? #72 (comment))

[mathias-luedtke]

TL;DR: +1 for removal

GetPositionIKExtended.srv

This is used in 3 old python scripts https://github.com/search?q=org%3Aipa320+GetPositionIKExtended&type=Code
But the providing node is gone anyway.

and the converter tool

It is probably outdated as well.

[fmessmer]

removed for kinetic