Revision history [back]

I'm not sure if support for mimic joints has been fully integrated into MoveIt yet (maybe it has been in the Jade devel), but there is an IK class specifically designed for kinematic chains with mimic joints in the moveit_ros_planning package: http://docs.ros.org/jade/api/moveit_ros_planning/html/classKDL_1_1ChainIkSolverVel__pinv__mimic.html

It's basically inherited from the general class for KDL IK solvers. To use it, you'll have to construct the KDL::Chain corresponding to your robot and give it to an instance of the IK solver. Here's an example where this is done (not for mimic joints, but the overall procedure is more or less the same): https://github.com/burgetf/nao_wholebody_planning/blob/master/rrt_connect_planner/src/nao_constraint_kinematics.cpp

I'm not sure if support for mimic joints has been fully integrated into MoveIt yet (maybe it has been in the Jade devel), but there is an IK class specifically designed for kinematic chains with mimic joints in the moveit_ros_planning package: http://docs.ros.org/jade/api/moveit_ros_planning/html/classKDL_1_1ChainIkSolverVel__pinv__mimic.html

It's basically inherited from the general class for numerical (Jacobian pseudo-inverse) IK solvers in the KDL IK solvers. library. To use it, you'll have to construct the KDL::Chain corresponding to your robot and give it to an instance of the IK solver. Here's an example where this is done (not for mimic joints, but the overall procedure is more or less the same): https://github.com/burgetf/nao_wholebody_planning/blob/master/rrt_connect_planner/src/nao_constraint_kinematics.cpp