環境：Ubuntu16.04+ROS Kinetic
一、IKFAST簡介
IKFAST是一種基於解析算法的運動學插件，可以保證每次求解的一致性。
二、環境配置
安裝程序
sudo apt-get install cmake g++ git ipython minizip python-dev python-h5py python-numpy python-scipy qt4-dev-tools安裝依賴庫
sudo apt-get install libassimp-dev libavcodec-dev libavformat-dev libavformat-dev libboost-all-dev libboost-date-time-dev libbullet-dev libfaac-dev libglew-dev libgsm1-dev liblapack-dev liblog4cxx-dev libmpfr-dev libode-dev libogg-dev libpcrecpp0v5 libpcre3-dev libqhull-dev libqt4-dev libsoqt-dev-common libsoqt4-dev libswscale-dev libswscale-dev libvorbis-dev libx264-dev libxml2-dev libxvidcore-dev安裝OpenSceneGraph-3.4
sudo apt-get install libcairo2-dev libjasper-dev libpoppler-glib-dev libsdl2-dev libtiff5-dev libxrandr-dev
git clone https://github.com/openscenegraph/OpenSceneGraph.git --branch OpenSceneGraph-3.4
cd OpenSceneGraph
mkdir build; cd build
cmake .. -DDESIRED_QT_VERSION=4
make -j$(nproc)
sudo make install安裝Flexible Collision Library 0.5.0
cd ~/git
git clone https://github.com/flexible-collision-library/fcl
cd fcl; git checkout 0.5.0
mkdir build; cd build
cmake ..
make -j `nproc`
sudo make installpip install --upgrade --user sympy==0.7.1刪除mpmath
sudo apt remove python-mpmath安裝MoveIt! IKFast
sudo apt-get install ros-kinetic-moveit-kinematics安裝OpenRAVE
git clone --branch latest_stable https://github.com/rdiankov/openrave.git
cd openrave && mkdir build && cd build
cmake -DODE_USE_MULTITHREAD=ON -DOSG_DIR=/usr/local/lib64/ ..
make -j$(nproc)
sudo make install三、配置IKFAST插件
1、相關參數
（1）MYROBOT_NAME（機器人名字） - name of robot as in your URDF
（2）PLANNING_GROUP（規劃組名字） - name of the planning group you would like to use this solver for, as referenced in your SRDF and kinematics.yaml
（3）MOVEIT_IK_PLUGIN_PKG （插件包名字）- name of the new package you just created
（4）IKFAST_OUTPUT_PATH（IKFAST輸出路徑） - file path to the location of your generated IKFast output.cpp file
export MYROBOT_NAME="panda_arm"
export IKFAST_PRECISION="5"//保留精度小數點後5位
export PLANNING_GROUP="panda_arm"
export BASE_LINK="0"//起始關節
export EEF_LINK="8"//末端關節
export FREE_INDEX="1"//若關節數大於6需設置一自由關節
export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp2、配置流程
設置機器人名字
export MYROBOT_NAME="panda_arm"若機器人模型爲xacro格式需先轉爲urdf格式
rosrun xacro xacro --inorder -o "$MYROBOT_NAME".urdf "$MYROBOT_NAME".urdf.xacrorosrun collada_urdf urdf_to_collada "$MYROBOT_NAME".urdf "$MYROBOT_NAME".dae設置精度爲小數點後5位，然後保留備份後重新設置dae格式機器人模型描述文件的精度
export IKFAST_PRECISION="5"
cp "$MYROBOT_NAME".dae "$MYROBOT_NAME".backup.dae # create a backup of your full precision dae.
rosrun moveit_kinematics round_collada_numbers.py "$MYROBOT_NAME".dae "$MYROBOT_NAME".dae "$IKFAST_PRECISION"查看模型關節數據（數據如下圖）
openrave-robot.py "$MYROBOT_NAME".dae --info links
查看模型
openrave "$MYROBOT_NAME".dae
選擇IK項（默認Transform6D ）
http://openrave.org/docs/latest_stable/openravepy/ikfast/#ik-types
設置運動規劃組
export PLANNING_GROUP="panda_arm"設置運動規劃的關節組，以上面的模型關節數據爲基礎設置
export BASE_LINK="0"
export EEF_LINK="8"若關節數量大於6需設置一自由關節，若無則無需設置
export FREE_INDEX="1"export IKFAST_OUTPUT_PATH=`pwd`/ikfast61_"$PLANNING_GROUP".cpp生成IKFAST文件（6軸）
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --savefile="$IKFAST_OUTPUT_PATH"生成IKFAST文件（7軸）
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot="$MYROBOT_NAME".dae --iktype=transform6d --baselink="$BASE_LINK" --eelink="$EEF_LINK" --freeindex="$FREE_INDEX" --savefile="$IKFAST_OUTPUT_PATH"備註：生成IKFAST文件時間一般較長，在半個小時左右，若生成失敗可以降低精度或者需要修改模型本身。
生成插件
export MOVEIT_IK_PLUGIN_PKG="$MYROBOT_NAME"_ikfast_"$PLANNING_GROUP"_plugin
cd ~/catkin_ws/src
catkin_create_pkg "$MOVEIT_IK_PLUGIN_PKG"catkin buildrosrun moveit_kinematics create_ikfast_moveit_plugin.py "$MYROBOT_NAME" "$PLANNING_GROUP" "$MOVEIT_IK_PLUGIN_PKG" "$IKFAST_OUTPUT_PATH"注意：create_ikfast_moveit_plugin.py默認該目錄下存在名字爲"$MYROBOT_NAME"_moveit_config的功能包如下，該功能包爲機器人模型通過moveit_setup_assistant配置生成的功能包。
plan_pkg = robot_name + '_moveit_config'
plan_pkg_dir = roslib.packages.get_pkg_dir(plan_pkg)
print 'Loading robot from \''+plan_pkg+'\' package ... '三、使用IKFAST插件
cd到"$MYROBOT_NAME"_moveit_config功能包的config文件目錄下，修改該目錄下的kinematics.yaml文件或者採用下面方式找到該文件。
rosed "$MYROBOT_NAME"_moveit_config kinematics.yaml修改內容如下
<planning_group>:
kinematics_solver: <myrobot_name>_<planning_group>_kinematics/IKFastKinematicsPlugin
-INSTEAD OF-
kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin測試
運行"$MYROBOT_NAME"_moveit_config功能包的demo.launch檢查是否成功。
參考
http://www.guyuehome.com/1921
http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/ikfast/ikfast_tutorial.html
https://scaron.info/teaching/installing-openrave-on-ubuntu-16.04.html