Personal kinematic solver in MoveIt
Hello I am trying to use a customised kinematic solver on a MoveIt Configuration package. I tried to add it as another plugin solver in the list in the MoveIt setup Assistant but I couldn't edit it.
I have been told that should be any edit button in the planning group in the assistant that allows me to select a personal IK solver.
The planning group of my MoveIt setup assistant look like that 
.
How can I actually use a personal kinematic solver in a MoveIt Package?
Asked by TP7 on 2023-07-13 08:03:53 UTC
Comments
Quick comment: you will have to make sure your IK solver is implemented in the form of a MoveIt compatible IK solver plugin package. Once you have achieved that, the MSA should pick it up automatically, provided the workspace your package resides in is active (ie: you've
sourced thesetup.bash).I'd suggest to take a look at the existing IK plugins and duplicate their structure (ie:
package.xml,CMakeLists.txtand base skeleton C++).Asked by gvdhoorn on 2023-07-14 03:24:51 UTC