Moveit approximate IK solutions [closed]

edit

Hello,

Situation is as follows:

• Using move it with kdl plugin to control a 5 DOF costum arm
• Works fine to move along z
• Causes problems for moving arm along x axis, when not enabling "approximate solutions" in RVIZ
• I am using https://github.com/tork-a/jog_control... to control the arm with a joy pad jog control uses GetPositionFK and GetPositionIK service calls as also shown in (https://moveit.ros.org/documentation/...).

Questions:

• Is it possible to configure move_it / the IK plugin to always use approximate solutions?
• In the API service call there is no option (http://docs.ros.org/hydro/api/moveit_...). Or do I miss something?
• I have noticed this post ( https://groups.google.com/forum/#!sea... ), but I must admit I am not completly clear how this matches the service call interface descpribed in the moveit documentation.

BR