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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?
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.
@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.
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: 2022-04-07 07:51:41 -0500
Seen: 687 times
Last updated: Apr 10 '22
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