noetic安装IKFAST

Moveit,IkFast运动学插件配置,最详细,没有之一 | 鱼香ROS

ubuntu 20.04安装、测试ikfast - C洼

cmake报错，缺什么装什么

sudo apt-get install -y ros-noetic-controller-manager

sudo apt-get install -y ros-noetic-industrial-robot-status-interface

sudo apt-get install -y ros-noetic-scaled-joint-trajectory-controller

sudo apt-get install -y ros-noetic-speed-scaling-interface

sudo apt-get install -y ros-noetic-speed-scaling-state-controller

sudo apt-get install -y ros-noetic-pass-through-controllers

sudo apt-get install -y ros-noetic-ur-client-library

rosrun xacro xacro --inorder -o ur5.urdf ur5.xacro

报错 xacro: in-order processing became default in ROS Melodic. You can drop the option.
resource not found: ur_description
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/opt/ros/noetic/share
when processing file: ur5.xacro

返回catkin_ws进行source

rosrun moveit_kinematics round_collada_numbers.py ur5_description.dae ur5.dae 10

报错

lxml.etree.XMLSyntaxError: xmlSAX2Characters: huge text node, line 399, column 10000325

roscd moveit_kinematics
find /opt/ros/noetic -name round_collada_numbers.py

sudo apt-get update
sudo apt-get install nano

sudo nano /opt/ros/noetic/lib/moveit_kinematics/round_collada_numbers.py

找到

修改dom=为下面

    huge_parser = etree.XMLParser(encoding='utf-8', recover=True, huge_tree=True)
    dom = etree.parse(input_file,huge_parser)

ctrl+x，Y，回车，保存

返回urdf目录重新对dae文件进行操作