Position only IK with orientation constraint in MoveIT
Hi all. I have implemented position only IK in Ros1 using moveit. However, I want to restrict the rotation of the end effector to some range. For example, only 45 degrees of rotation is allowed around x and y axises, while no rotation is allowed around z axis. Is it possible to implement position only IK together with moveit_msgs/OrientationConstraint? Thank you very much for your time. (I am using ROS kinetic)
If you refer to #q194323, the
GetPositionIK
service mentioned in the answer has a way to specify constraints in PositionIKRequest.msg