Revision history [back]

I found solution:

As stated here, I added ros::Time::init(); before urdf::Model robot_model; in trac_ik_wrap.i, then I added return 0; to

if(!tree.getChain(base_link, tip_link, chain))

If I wouldn't add that return, it would still run without termination and ros time error, but it would go to try (so success) not except.

Now just recompile package in workspace with catkin_make or catkin build or whatever you use.

I found solution:

As stated here, I added ros::Time::init(); before urdf::Model robot_model; (in TRAC_IK function) in trac_ik_wrap.i, then I added return 0; to

if(!tree.getChain(base_link, tip_link, chain))

If I wouldn't add that return, it would still run without termination and ros time error, but it would go to try (so success) not except.

Now just recompile package in workspace with catkin_make or catkin build or whatever you use.