Inverse Kinematics on rviz
Hi,
I am recently working on Fetch robot and motion planning and I have run into such a problem:
Given a serial of pose in work space, the serial of configurations in joint space the IK solver output are not continue (sometime flip).
I have noticed that when you are dragging the interactive marker on the end-effector in rviz, the joints can always be continue. Does anyone have any idea what kind of IK algorithm rviz is using?
Thanks!