Trying Joint Trajectory Action tutorial on cob_arm_kinematics services, but get_ik cannot find solution for any poses even for the ones returned by get_fk from the same node. Tutorial code works well on PR2 services though.

I have tried to change seeds as suggested here, but no luck.

Any clues?

Thanks

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EDIT #1:

I set value 0.5f for all joints in FK and received following Cartesian pose:

Position: -0.435193,0.448097,1.33023
Orientation: 0.708541 0.328067 0.000000 0.624774

But it produces error

INFO: IK service call error code: -31
ERROR: IK solution not found for trajectory point number 0

when I am feeding this data back to IK with the following command:

$ rosservice call /executecartesianiktrajectory -- \
"{ \
  header: { frameid: /base_link}, \
  poses: [{ \
    position: [-0.435193, 0.448097, 1.33023], \
    orientation: [0.708541, 0.328067, 0.0, 0.624774] \
  } \
]}"

I have tried to set seeds as follows

for(int i = 0; i < 7; i++) 
  ikrequest.ikrequest.ikseedstate.jointstate.position[i] = 0.5f; //startangles[i];

but result is the same.