Does trac_ik support approximate solutions?

asked 2020-01-13 10:37:50 -0500

Eisenhorn gravatar image

updated 2022-05-23 10:07:56 -0500

lucasw gravatar image

Does trac_ik support approximate solutions? I swapped the kinematics_solver to trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin.

For setting a target pose i use the moveit_commander python API: set_joint_value_target


Unfortunately I get the following error message:

MoveItCommanderException: Error setting joint target. Does your IK solver support approximate IK?

With the default IK this works. Also I am very limited in the Move_It Plugin of RVIZ with this IK.

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