Wiki for /compute_ik

asked 2021-01-13 14:53:55 -0500

Logan_Zhang gravatar image

updated 2021-01-14 04:42:29 -0500

gvdhoorn gravatar image

Hi I am trying to use /compute_ik service but I am not sure what exactly the parameters mean, I am wondering if there is a wiki about what those parameters represent? Thanks


I am trying to use /compute_ik service in CMD to try it out before integrating into code using rosbridge, and it is telling me that I didn't put in enough arguments but I think I put in the non-optional ones already, here is my command:

rosservice call /compute_ik ['{ik_request.group_name: {"kuka_iiwa"}, ik_request.robot_state.joint_state.header.frame_id:{"tool0"}, ik_request.robot_state.joint_state.position:{0,0,0,0,0,0,0}, ik_request.robot_state.joint_state.velocity:{0,0,0,0,0,0,0}, ik_request.pose_stamped.pose.position.x: {0.75}, ik_request.pose_stamped.pose.position.y: {0.12}, ik_request.pose_stamped.pose.position.z: {0.65}, ik_request.pose_stamped.pose.orientation.x: {0.0}, ik_request.pose_stamped.pose.orientation.y: {0.0}, ik_request.pose_stamped.pose.orientation.z: {0.0}, ik_request.pose_stamped.pose.orientation.w: {1.0}, ik_request.timeout: {2000}, ik_request.attempts: {100}}']

I guess my question would be is there an example of this that I can look at? Sorry I am very new to this

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If you run rosservice type /compute_ik, it should return moveit_msgs/GetPositionIK. You could then use rosmsg show --raw moveit_msgs/PositionIKRequest (which is the type of the ik_request field) or use the web documentation to go to moveit_msgs/msg/PositionIKRequest which includes the comments on the fields.

Does that provide sufficient information?

gvdhoorn gravatar image gvdhoorn  ( 2021-01-14 00:23:54 -0500 )edit