about the kinematics_msgs::GetPositionIK::Request and response

asked 2014-11-30 14:58:13 -0500

karen0603 gravatar image

updated 2014-12-02 10:27:52 -0500

Hi everyone, I am planning the trajectory of 6dof robot arm to move arm from a initial position to a new position. First I have to get the ik solution and then plan in joint space. When using kinematics_msgs::GetPositionIK::Request and response to get the ik, usually can not get a IK solution. Such as: When i use position(.235,-.2996,-.3011) and quaternions(.674056,-.73868,0,0) , can get the IK solution. If the position is (.235,-.3,-.3) and quaternions are the same are (.674056,-.73868,0,0) , can not get the IK solution. The data nearly is the same. How to solve such problem? I am using ros fuerte on Ubuntu12.04 Thanks advance

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These services are usually implemented by the driver of your arm. Please specify which arm you are using and which package you use.

BennyRe gravatar image BennyRe  ( 2014-12-03 01:15:49 -0500 )edit

Thanks for your responds very much. In fact we already have a urdf file and can drive reality robot arm through warehouse-viewer .we try to get the ik and drive the arm to some positions. I just wondering sometimes the Ik solution can get, but round data then can not get ik solution( above data)

karen0603 gravatar image karen0603  ( 2014-12-03 13:12:42 -0500 )edit