Hi all,

I have 2 questions:

1. I defined the goal for my robot as current_pose.position.x = current_pose.position.x -0.1; and tried to generated motion with move_group.plan() by using move_group.setPoseTarget(current_pose);. On the other hand, I just gave the same goal position to my TracIk. As the images show, the both ways lead the robot to the goal position, but the resulted movement from move_group.plan() seems rather not efficient. Is there something like solve_type for move_group.plan() that one uses in kinematics.yaml?
2. Using move_group.computeCartesianPath() I can generate similar movement as with TracIk. In general, when would you prefer using move_group.computeCartesianPath() over move_group.plan()? And when would you use move_group.plan()?

Result from move_group.plan():

Result from TracIK: