ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange

Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Because the arm has less than 6-dof, the default IK setup really won't work. You can try turning on "position_only_ik" -- I believe that is now an option in the RVIZ plugin under the latest Hydro releases.

An alternative is to use an IKFast IK plugin, which can solve for the lower DOF arm to as close of a solution as possible. I had created an IKFast plugin for the turtlebot arm package (https://github.com/turtlebot/turtlebot_arm), but I believe it is now out of date due to a change in MoveIt's IK plugin base class.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.

Powered by Askbot version 0.10.2