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Why does my ikfast solver work outisde of MoveIt! but not within?

asked 2015-03-19 02:35:00 -0600

auldwin1 gravatar image

updated 2015-03-19 02:38:28 -0600

Hi, I'm steadily making progress with my project to control a 3DOF arm but there is this problem that been annoying me for the last couple of days.

I'm trying to make a ikfast plugin for MoveIt! following the official tutorial. Everything seems to be working well, I test the solver using the compute program as instructed here (section 6) and everything seems to be working fine. I first test by using the fk solver, I then use the position returned by the fk solver to test the ik solver. As you can see, it seems to work well.

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When I proceed to build the moveit plugin however and attempt to move the robot arm in a python script, the planning fails - as shown below. I've tried everything, I've tried setting the tolerances higher, I've tried using the same pose returned by get current pose. Nothing seems to work.

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Here is the code I'm using:

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Does anyone know what the problem might be? I'm kind of stuck at the moment.

Billy

ifast plugin tutorial: http://wiki.ros.org/Industrial/Tutori... python commander tutorial: http://docs.ros.org/indigo/api/pr2_mo...

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answered 2015-03-28 15:44:48 -0600

auldwin1 gravatar image

Just to update this. The solutions was to fix my model.

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answered 2015-04-10 09:04:36 -0600

doublexwang1211 gravatar image

Dear Sorry to trouble you

I also use 3dof arm. and I found the Translation3D solution of fake arm from openrave. I want to build IKFast plugin after issuing the catkin_make command, however I got this error

In file included from /home/xuxin/catkin_ws/src/test_robot_ikfast_plugin/src/test_robot_arm_ikfast_moveit_plugin.cpp:114:0: /home/xuxin/catkin_ws/src/test_robot_ikfast_plugin/src/test_robot_arm_ikfast_solver.cpp: In member function ‘bool ikfast_kinematics_plugin::IKSolver::ComputeIk(const IkReal, const IkReal, const IkReal, ikfast_kinematics_plugin::ikfast::IkSolutionListBase<double>&)’: /home/xuxin/catkin_ws/src/test_robot_ikfast_plugin/src/test_robot_arm_ikfast_solver.cpp:322:23: error: too many initializers for ‘bool [0]’ make[2]: [test_robot_ikfast_plugin/CMakeFiles/test_robot_arm_moveit_ikfast_plugin.dir/src/test_robot_arm_ikfast_moveit_plugin.cpp.o] Error 1 make[1]: [test_robot_ikfast_plugin/CMakeFiles/test_robot_arm_moveit_ikfast_plugin.dir/all] Error 2 make: ** [all] Error 2 Invoking "make" failed

I donot know how to solve this problem. Could you give me some ideas?

Many thanks Yours, Xuxin

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Asked: 2015-03-19 02:35:00 -0600

Seen: 405 times

Last updated: Apr 10 '15