MoveIt default frame for compute_ik service
I am trying to use the /compute_ik
service which MoveIt advertises. It seems that this service always converts the desired pose into the default_frame
as shown here.
It appears that the default frame is /odom
, which is the the root of the srdf we are using. This means that the IK call fails if tf
doesn't have information on the odom
frame, even if the IK call only pertains to transform downstream. For example, to move the right arm group to a pose expressed in the frame base_link
, there's no reason to involve the odom
frame.
Am I understanding the situation correctly? And is there a work around to avoid needing the /odom
frame?
Asked by gustavogoretkin on 2019-01-31 22:55:26 UTC
Comments
If the root frame of your URDF is
odom
and your giving a goal pose inbase_link
then there will need to be a transformation betweenodom
and base_link available or it will fail.Asked by PeteBlackerThe3rd on 2019-02-01 04:11:39 UTC