MoveGroupInterface Ik solver
Hi Community,
I am following the Move Group c++ Interface (http://docs.ros.org/melodic/api/movei...) 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 &ee_state =kinematic_state->getGlobalLinkTransform("ee");
geometry_msgs::Pose target_pose1;
target_pose1.orientation.w = ee_state.rotation().w();
target_pose1.position.x = ee_state.translation().x();
target_pose1.position.y = ee_state.translation().y();
target_pose1.position.z = ee_state.translation().z();move_group.setPoseTarget(target_pose1);
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
ROS_INFO_NAMED("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?