ROS IndexNo version for distro humble showing jazzy. Known supported distros are highlighted in the buttons above.
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.0.2 (2025-07-28)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.0.2 (2025-07-28)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.1.1 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | kilted |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.1.1 (2025-07-28)
2.1.0 (2025-05-20)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.2.0 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.2.0 (2025-07-28)
2.1.0 (2025-05-20)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
No version for distro github showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.0.2 (2025-07-28)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
No version for distro galactic showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.0.2 (2025-07-28)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
No version for distro iron showing jazzy. Known supported distros are highlighted in the buttons above.
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.0.2 |
| License | BSD |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | jazzy |
| Last Updated | 2025-07-28 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
2.0.2 (2025-07-28)
2.0.1 (2024-04-12)
2.0.0 (2024-03-29)
- Update CMakeLists for trac_ik
- Contributors: Ana C. Huaman Quispe, Kenji Brameld, Mike Lanighan
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| trac_ik_kinematics_plugin | |
| trac_ik_lib |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
1.6.7 (2025-05-20)
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.
1.3.6 (2016-01-04)
- Fixed tolerances to be in tip frame, not base frame.
- Fixed Hydro compile issue
- Changed to std::numeric_limits for +/-FLT_MAX and epsilons
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged trac_ik at Robotics Stack Exchange
|
|
trac_ik package from trac_ik repotrac_ik trac_ik_examples trac_ik_kinematics_plugin trac_ik_lib trac_ik_python |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.6.7 |
| License | BSD |
| Build type | CATKIN |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://bitbucket.org/traclabs/trac_ik.git |
| VCS Type | git |
| VCS Version | master |
| Last Updated | 2025-05-20 |
| Dev Status | DEVELOPED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
The ROS packages in this repository were created to provide an improved
alternative Inverse Kinematics solver to the popular inverse Jacobian
methods in KDL. TRAC-IK handles joint-limited chains better than KDL
without increasing solve time.
Additional Links
Maintainers
- TRACLabs Robotics
Authors
- Patrick Beeson
- Barrett Ames
README
No README found.
See repository README.
CHANGELOG
1.6.7 (2025-05-20)
1.6.6 (2021-05-05)
1.6.4 (2021-04-29)
1.6.2 (2021-03-17)
- changed package.xmls to format 3
- Contributors: Stephen Hart
1.6.1 (2021-03-17)
- Pushing changes for noetic compatibility
1.5.1 (2019-07-15)
- Fixed theta normalize bug
1.5.0 (2018-08-22)
- Switch to C++-11 threads and pointers instead of Boost
1.4.11 (2018-02-06)
- Change to python install location for swig wrapper
1.4.10 (2018-01-21)
- Fix URDF types to work in Indigo through Lunar on trusty through zesty
1.4.9 (2018-01-11)
- Fixed MoveIt! plugin params to look in the correct place
- Added a swig wrapper around TRAC-IK courtesy of Sammy.Pfeiffer@student.uts.edu.au
1.4.8 (2017-12-26)
- Updated type to use generic typedef so boost (xenial) and C++ (zesty) pointers can be used as needed
1.4.7 (2017-12-21)
- Fixed bug introduced in 1.4.6 where threaded function call should be returning a bool but was not returning anything
1.4.6 (2017-11-8)
- Incorporated PR to fix plugin header and templatize the KDL/NLOpt solver threads used by TRAC-IK
1.4.5 (2016-12-21)
- Updated CMake file to work with Eigen on 14.04 through 16.04
1.4.4 (2016-08-01)
- Minor formatting and speed improvements based on user Issues and Pull Requests.
1.4.3 (2016-06-16)
- trac_ik_kinematics_plugin and trac_ik_examples needed build depends on libnlopt-dev
1.4.2 (2016-06-16)
- New revision for ROS Package release. Thanks to Gijs van der Hoorn
1.4.1 (2016-01-16)
- Fixed weird parsing issue with certain URDFs.
1.4.0 (2016-01-16)
- Added example program for using TRAC-IK.
- Added ability to get KDL chain structures from TRAC-IK class.
1.3.9 (2016-01-16)
- Added new TRAC-IK constructor that takes URDF location, base link, and tip link, instead of KDL structures.
- Some README fixes based on user comments
1.3.8 (2016-01-04)
- Fixed how continuous joints are handled in random restarts
1.3.7 (2016-01-04)
- Fixed bug introduced in 1.3.6 where tip frame was being used for Inverse Jacobian, which was never converging.
1.3.6 (2016-01-04)
- Fixed tolerances to be in tip frame, not base frame.
- Fixed Hydro compile issue
- Changed to std::numeric_limits for +/-FLT_MAX and epsilons
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.