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It computes the inverse kinematics for a planning group. as the name implies. You can use it to get the robot joint angles that put the end effector at a cartesian Pose.

You don't need to call the service yourself to do motion planning. The move_group's move, plan and other commands use the IK in the background.

It computes the inverse kinematics for a planning group. as the name implies. You can use it to get the robot joint angles that put place the end effector at a cartesian Pose.Pose.*

You don't need to call the service yourself to do motion planning. The move_group's move, plan and other commands use the IK in the background.

*There are generally multiple solutions, so you may not always get the same one.