IKFast doesn't work normally in the RViz and MoveIt!

asked 2017-02-22 22:14:04 -0600

Jeremy Liu gravatar image

updated 2017-06-21 04:49:42 -0600


I'm a student studying in Baxter for grasping task and I'm trying to use IKFast plugin in Rviz . So I have followed the official guidance ( http://sdk.rethinkrobotics.com/wiki/C... ) and generated the baxter_(left / right)_arm_ikfast_solver.cpp successfully. And I also edited baxter_moveit_config/kinematics.yaml and installed the plugin.

However when I open the Rviz (by "rosrun baxter_interface joint_trajectory_action_server.py" and "roslaunch baxter_moveit_config baxter_grippers.launch" ), and I click the control ball and rings, the arm will shift to another error place and can't be controlled (as the screenshot shows).

alt text

And once you release your click and the ball will also go to the wrong place even if you do not move your mouse. The terminal shows :

/[ERROR] [1487821286.881428524]: Unknown marker name: 'EE:goal_left_gripper' (not published by RobotInteraction class)

BTW, The KDL works normally. Any any suggestions will be very very appreciated:)

Thank you for your time,



ROS_ROOT=/opt/ros/indigo/share/ros ROS_PACKAGE_PATH=/home/jeremy/ros_ws/src:/opt/ros/indigo/share:/opt/ros/indigo/stacks ROS_MASTER_URI=http://localhost:11311 ROSLISP_PACKAGE_DIRECTORIES=/home/jeremy/ros_ws/devel/share/common-lisp ROS_DISTRO=indigo ROS_ETC_DIR=/opt/ros/indigo/etc/ros

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What is the error that is output in the terminal when you attempt to move the arm around with IKFast?

imcmahon gravatar imageimcmahon ( 2017-03-09 12:28:10 -0600 )edit

I have the exact same issue. And the error in the terminal is: Unknown marker name: 'EE:goal_left_gripper"

David2366 gravatar imageDavid2366 ( 2017-06-13 16:04:07 -0600 )edit

Hi, did you ever get to solve this problem? I have the exact same situation right now and am looking for help! Thank you!

David2366 gravatar imageDavid2366 ( 2017-06-13 16:06:23 -0600 )edit

@imcmahon The error in the terminal is: Unknown marker name: 'EE:goal_left_gripper"

Jeremy Liu gravatar imageJeremy Liu ( 2017-06-21 04:44:38 -0600 )edit

@David2366 I haven't solved this issue, and I am also seeking for help. So far I have used the KDL as the IK plugin

Jeremy Liu gravatar imageJeremy Liu ( 2017-06-21 04:47:49 -0600 )edit

Did anybody get to solve this problem?

Jeremy Liu gravatar imageJeremy Liu ( 2017-06-26 22:28:01 -0600 )edit