What is 'compute_ik' service in moveit?
hi! i have question. I'm current using moveit, I want to calculate the inverse kinematics directly in moveit and derive the angle. I found that there is a computeik service. If I use this, the inverse kinematics is calculated directly and the angle is obtained? What exactly is computeIK's role?
Asked by yun on 2022-04-07 07:51:41 UTC
Answers
It computes the inverse kinematics for a planning group. as the name implies. You can use it to get robot joint angles that place the end effector at a cartesian Pose.*
You don't need to call the service yourself to do motion planning. The move_group's move, plan and other commands use IK in the background.
*There are generally multiple solutions, so you may not always get the same one.
Asked by fvd on 2022-04-10 01:59:56 UTC
Comments
@fvd Your second sentence is a little misleading, because there is often more than one IK solution. Calling this service will give one of the solutions, but not necessarily the same one as earlier.
Asked by Mike Scheutzow on 2022-04-10 09:00:22 UTC
I clarified.
Asked by fvd on 2022-04-10 09:10:06 UTC
I wanted to find the angle because I wanted to plan the trajectory myself. In move_group, only the current angle can be found and the angle obtained by solving the inverse kinematics cannot be found immediately. I asked because I thought that using compute_IK would give me the answer I was looking for. thank you for answer everyone!
Asked by yun on 2022-04-11 02:58:26 UTC
Comments