Hi Community,

I am following the Move Group c++ Interface (http://docs.ros.org/melodic/api/moveit_tutorials/html/doc/move_group_interface/move_group_interface_tutorial.html) with my custom 5-DoF robot.

As described in the tutorial, I am trying to plan a motion by describing a pose for my EE:

const Eigen::Affine3d &eestate =kinematicstate->getGlobalLinkTransform("ee");

geometrymsgs::Pose targetpose1;

targetpose1.orientation.w = eestate.rotation().w();
targetpose1.position.x = eestate.translation().x();
targetpose1.position.y = eestate.translation().y();
targetpose1.position.z = eestate.translation().z();

movegroup.setPoseTarget(targetpose1);

moveit::planninginterface::MoveGroupInterface::Plan myplan;

bool success = (movegroup.plan(myplan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);

ROSINFONAMED("tutorial", "Visualizing plan 1 (pose goal) %s", success ? "" : "FAILED");

With my 5-DoF robot I had problems with the KDL-IK solver, so I installed TRAC-IK solver (Adpated kinematics.yaml according to it and in the MotionPlanning panel it works just fine). Since the MoveGroupInterface fails to plan, even I am giving him the current EE-pose, I am wondering whether MoveGroupInterface is using the KDL-IK solver by default or is my assumption incorrect?