Inverse Kinematics Solvers

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro jazzy showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro kilted showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro rolling showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro galactic showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro iron showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

No version for distro melodic showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer

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

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

CHANGELOG

Changelog for package ik_solvers

0.3.3 (2025-07-29)

0.3.2 (2025-07-22)

0.3.1 (2025-07-09)

0.3.0 (2025-06-07)

0.2.1 (2025-06-03)

0.2.0 (2025-05-03)

Replace instances of Eigen::Affine3d with Eigen::Isometry3d

0.1.0 (2025-04-27)

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

Package Dependencies

Deps	Name
	ament_cmake
	eigen3_cmake_module
	rclcpp
	pluginlib
	rclcpp_lifecycle
	trajectory_msgs
	generate_parameter_library
	pinocchio

System Dependencies

Name
eigen

Dependant Packages

Name	Deps
auv_controllers
whole_body_controllers

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `ik_solvers` at Robotics Stack Exchange

API Docs Browse Code Wiki

No version for distro noetic showing github. Known supported distros are highlighted in the buttons above.

ik_solvers package from auv_controllers repo

auv_control_demos auv_control_msgs auv_controllers controller_common controller_coordinator end_effector_trajectory_controller ik_solvers thruster_allocation_matrix_controller thruster_controllers topic_sensors velocity_controllers whole_body_controllers

ROS Distro
github

API Docs
Browse Code
Wiki

Package Summary

Tags	No category tags.
Version	0.3.3
License	MIT
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description	Control algorithms for autonomous underwater vehicles (AUVs) and underwater vehicle manipulator systems (UVMS) implemented using ros2_control.
Checkout URI	https://github.com/robotic-decision-making-lab/auv_controllers.git
VCS Type	git
VCS Version	main
Last Updated	2025-07-31
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	underwater-robotics ros2 ros2-controllers ros2-rolling ros2-jazzy
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Inverse kinematics solvers used for whole-body control

Additional Links

Maintainers

Evan Palmer

Authors

Evan Palmer