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Did you try increasing the number of iterations or increasing the timeout value? It might be that it's timing out or reaching iteration limit before finding any IK solution.

Did you try increasing the number of iterations or increasing the timeout value? It might be that it's timing out or reaching iteration limit before finding any IK solution.

To change the maximum number of iterations of the IK solver, set maxIterations parameter of arm_kinematics node to some value:

<node pkg="arm_kinematics" type="arm_kinematics" name="arm_kinematics" >
    <param name="maxIterations" value="5000" />
</node>

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