IKFastKinematicsPlugin motion planning problems

asked 2019-10-02 07:55:14 -0500

Eisenhorn gravatar image

Hi,

I have created a IKFastKinematics plugin (see http://docs.ros.org/indigo/api/moveit...) for a 5 DOF arm.

Unfortunately when testing the plugin I am faced with the following issues:

  • In rviz i cannot manually set the position of my EEF frame. Also when clicking "Allow Approx IK Solutions"
  • A MoveItCmmanderException ist raised in my jog node when using set_joint_value_target for setting a goal.

self.group.set_joint_value_target(self.next_pose, self.move_group_link_frame, True)
File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/move_group.py", line 219, in set_joint_value_target raise MoveItCommanderException("Error setting joint target. Does your IK solver support approximate IK?") MoveItCommanderException: Error setting joint target. Does your IK solver support approximate IK?

Never the less the IK works, if I choose one of the predfined (in the setup assistant) goal states.

How can I enalbe approx solutions, but shouldn't it work more smoothly, as I have created the plugin especially for the arm?

BR

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Comments

Unfortunately I have no experience with IKFast, so I won't be able to help you much... However I just wanted to know: when you say "the predefined goal states" you mean those you can set as start/goal states as an alternative to, e.g., a random state? If so, the reason why they work is that, as far as I know, they are simply joint configurations and should not be using IK at all, and thus this might not be related to the issue you're experiencing...

ffusco gravatar imageffusco ( 2019-10-03 01:39:10 -0500 )edit