ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
The issue was that i wasn't setting TRAC IK's solve_type, so it was defaulting to Speed. To be totally blunt, I'm not sure why Speed is the default option because it's totally cool with giving answers that are off by substantial amounts. Changing to Distance made TRAC IK fulfill the tolerances I required.