We have seen the MoveIt! package for the ABB robot IRB 6640 model. This robot works with a default numerical solver. In this section, we will discuss how to generate an IK solver plugin using IKFast, a powerful inverse kinematics solver provided within Rosen Diankov's OpenRAVE motion planning software. At the end of this section, we can run the MoveIt! demo of this robot, using our custom inverse kinematic plugin.
In short, we will build an IKFast MoveIt! plugin for robot ABB IRB 66400. This plugin can be selected during the MoveIt! setup wizard or we can mention it in the config/kinematics.yaml file of the moveit-config package.
