moveit: cannot move interactive marker with IKfast
Hello
i´ve a problem with ikfast for moveit. i´ve gone trough all tutorials and KDL and Trac_ik are working fine in rviz.
However when i´m using the 3DOF IKfast i cant set the goal position with the marker or interact in any way with the leg with Move Group Interface.
The leg is a simple leg with 3 actors in a row.
when i print openrave-robot.py <myrobot_name>.dae --info links
i´ve got the following links
base_link 0
thorax 1 base_link
leg_center_l1 2 thorax
coxa_l1 3 leg_center_l1
femur_l1 4 coxa_l1
tibia_l1 5 femur_l1
tibia_foot_l1 6 tibia_l1
the ik-fast was calclulated with
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=<myrobot_name>.dae --iktype=translation3d --baselink=2 --eelink=6 --savefile=ik_leg1.cpp
so it is the exact same problem as in this case https://www.youtube.com/watch?v=M1c8A... but using "position_only_ik: true" in kinematics.yaml doesnt solve the problem
leg_1:
kinematics_solver: group_kinematics/IKFastKinematicsPlugin
kinematics_solver_attempts: 3
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
position_only_ik: true
I assume that the IK cannot solve for the solution and somehow the srdf may be wrong. I´ve used many configurations in the srdf from assigning only joints and one eef.
<group name="leg_1">
<joint name="base_joint" />
<joint name="leg_center_joint_l1" />
<joint name="coxa_joint_l1" />
<joint name="femur_joint_l1" />
<joint name="tibia_joint_l1" />
<joint name="tibia_foot_joint_l1" />
</group>
<end_effector name="leg_1_foot" parent_link="tibia_foot_l1" group="leg_1" />
as putting putting everythin in a chain, put the rest in a subgroup
<group name="leg_1">
<chain base_link="thorax" tip_link="tibia_l1" />
</group>
<group name="leg_test">
<joint name="leg_center_joint_l1" />
<joint name="coxa_joint_l1" />
<joint name="femur_joint_l1" />
<joint name="tibia_joint_l1" />
<joint name="tibia_foot_joint_l1" />
<joint name="base_joint" />
</group>
<end_effector name="leg1eef" parent_link="tibia_l1" group="leg_test" parent_group="leg_1" />
Have you ticked the Approximate IK checkbox in the RViz MoveIt plugin UI? I'm not sure just setting
position_only_ik: true
is enough for the RViz plugin. It does influence the programmatic interface, but the interactive marker may be a separate thing.Hello, Yes i´ve tried to allow approximate IK and also set collisions to ignore.
i´ve tried to use a newer openrave version without any success. do you know if there is a convenient way to test the generated ik?