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To add to @v4hn's answer, a common workaround to avoid this issue is to use joint goals or named poses (you can set them up in the setup assistant (roslaunch your_moveit_config setup_assistant.launch)) when you want to move to a distant goal. That ensures that your robot is in a known configuration, and for nearby pose goals the IK will generally behave well. But you should still make sure the configuration does not flip.

To add to @v4hn's answer, a common workaround to avoid this issue is to use joint goals or named poses (you can set them up in the setup assistant (roslaunch your_moveit_config setup_assistant.launch)) when you want to move to a distant goal. That ensures that your robot is in a known configuration, and for nearby pose goals the IK will generally behave well. But you should still make sure the configuration does not flip.flip, e.g. by limiting the joint ranges of your robot as suggested in the other answer.