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What is 'compute_ik' service in moveit?

asked 2022-04-07 07:51:41 -0500

yun gravatar image

updated 2022-04-17 10:57:09 -0500

lucasw gravatar image

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 compute_ik service. If I use this, the inverse kinematics is calculated directly and the angle is obtained? What exactly is compute_IK's role?

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answered 2022-04-10 01:59:56 -0500

fvd gravatar image

updated 2022-04-10 09:09:58 -0500

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.

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@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.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-04-10 09:00:22 -0500 )edit

I clarified.

fvd gravatar image fvd  ( 2022-04-10 09:10:06 -0500 )edit

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!

yun gravatar image yun  ( 2022-04-11 02:58:26 -0500 )edit

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Asked: 2022-04-07 07:51:41 -0500

Seen: 112 times

Last updated: Apr 10