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Trac_IK plugin for MoveIt group relies on deprecated API.

asked 2021-11-17 08:42:37 -0600

bhomaidan

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Is there a neat way to handle this warning while using Trac-IK solver with MoveIt Assistant?

IK plugin for group 'right_arm' relies on deprecated API. Please implement initialize(RobotModel, ...).

thanks in advance.

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answered 2021-11-18 04:00:44 -0600

v4hn
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Trac-IK should simply implement the newer API. Apparently they did not do that. If they don't want to use the functionality this is quickly done because RobotModel::getURDF() can just give you the description needed for the old API, but they can likely safe some time by just using the RobotModel MoveIt prepared for them.

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@v4hn, thanks for your answer, where can I add RobotModel::getURDF(), to which part of the trac_ik code so it works properly? can you please tell me, thanks in advance.

bhomaidan ( 2021-11-18 08:28:50 -0600 )edit

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Asked: 2021-11-17 08:42:37 -0600

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Last updated: Nov 18 '21

Trac_IK plugin for MoveIt group relies on deprecated API. edit

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Trac_IK plugin for MoveIt group relies on deprecated API.