Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Multiple kinematics solver for the manipulator

asked 2020-08-06 16:08:03 -0500

xman236
51 ●15 ●21 ●26

Hi all,

below you can find my kinematics.yaml file. Since my robot only has 5 DoF and the IK solver has sometimes has probelms with finding solutions. So the position_only_ik parameter is set to true.

However, the ik-solver should at least try to find a solution according to the given 4D cartesian parameters (x,y,z,pitch). So I am wondering if I could use multiple kinematics solver or change the position_only_ik value online so that I can tell the robot: Use solver 1 with position_only_ik:false and if you failed use solver 2 with position_only_ik:true.

robot_arm:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin

kinematics_solver_search_resolution: 0.05
kinematics_solver_timeout: 0.005
position_only_ik: true

edit retag flag offensive close merge delete

add a comment

1 Answer

Sort by » oldest newest most voted

answered 2020-08-07 02:26:21 -0500

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

So I am wondering if I could use multiple kinematics solver [..] so that I can tell the robot: Use solver 1 with position_only_ik:false and if you failed use solver 2 with position_only_ik:true.

No, this is currently not supported by MoveIt.

A workaround could be to implement an IK solver yourself which realises this behaviour (ie: uses multiple IK solvers internally itself).

That way MoveIt would only see a single solver, but you'd still achieve the behaviour you describe.

change the position_only_ik value online

Afaik position_only_ik is not a dynamic_reconfigure parameter, so this would also not be supported.

It would be easy to check though: just start MoveIt, start rqt_reconfigure and see whether that parameter is there.

edit flag offensive delete link

add a comment

Question Tools

1 follower

Stats

Asked: 2020-08-06 16:08:03 -0500

Seen: 262 times

Last updated: Aug 07 '20

Multiple kinematics solver for the manipulator edit

1 Answer

Question Tools

Stats

Related questions

Multiple kinematics solver for the manipulator