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

Revision history [back]

click to hide/show revision 1
initial version

I have actually managed to solve the problem I think:

I edited the ikfast_plugin/src/robot_name_ikfast_moveit_plugin.cpp to increase the num_joint of the ikfast so that it matches the moveit! joint number (num_joints_ + 1):

Line 384:

while (link->name != base_frame_ && joint_names_.size() <= (num_joints_+1))

Line 439:

if (joint_names_.size() != num_joints_)
  {
      ROS_FATAL_STREAM_NAMED(name_, "Joint numbers mismatch: URDF has " << joint_names_.size() << " and IKFast has " << (num_joints_+1));
      return false;
  }

Thanks for the help @gvdhoorn :D