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answered 2021-08-24 03:12:42 -0500

jangerrit gravatar image

Solved the Problem, it has nothing to do with the urdf. MoveIt just does not recognize our kinematic chain correctly.

Our kin. chain should look like the following: r_arm: base_link -> r_tool0

So what I did was:

  • configure kin. chain for Planning Group in MoveIt setup_assistant as shown above
  • execute move_group->setPoseReferenceFrame("base_link") in controller

Problem is getPlanningFrame() always returns "world" frame. So our custom IK system uses "base_link" as reference frame, while MoveIt uses "world". I discovered a lot of people experiencing this bug and there seems to be no solution, we will transform everything with tf2 now.

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