I think moveit IK is going wrong.

asked 2022-04-29 04:06:30 -0500

yun gravatar image

updated 2022-05-01 12:53:13 -0500

lucasw gravatar image

Hi. As you can see from the picture, I think moveit IK is wrong solved. I used Moveit Assistant to set it up. Is there a reason? Moving the robot using the RVIZ ball is out of range. If anyone knows, please reply.

I used ubunut 18.04, ros melodic.

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do you have any error message from terminal which can help to understand the question? It is not clear from question what you want to say.

aarsh_t gravatar image aarsh_t  ( 2022-04-30 09:07:32 -0500 )edit

IK is very sensitive to the way it is configured, and in my experience the default configuration leads to a lot of failures (i.e. IK does not find any solution.) You should 1) try allowing looser tolerance in the eef pose, and 2) give IK more time to search for a solution. These changes should result in fewer IK failures.

Mike Scheutzow gravatar image Mike Scheutzow  ( 2022-04-30 11:00:31 -0500 )edit

There are no terminal messages. When moving to the desired coordinates, the robot passed through the floor and there was an error in drawing a path, so I asked a question. Is there a cause?

yun gravatar image yun  ( 2022-05-01 20:03:53 -0500 )edit