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Got IK error 33 after generating IK solver using planning description configuration wizard

asked 2012-11-05 17:17:59 -0500

shuai gravatar image

Hi All,

I recently generated the ik solver for my own 6 dofs robot arm using planning description configuration wizard. But when I tried to calculate the ik solution for a definitely feasible pose, I got the error code 33. I checked the rxconsole and it says that ik initial checking fails. Does anyone know what causes the problem? Thank you!

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answered 2012-11-05 17:49:17 -0500

updated 2012-11-06 18:45:15 -0500

-33 means IK_LINK_IN_COLLISION. so make sure that at your goal pose your robot does not collide with other objects. To check the detailed collision information, use the following code:

assuming that you have a variable planning_environment::CollisionModels* cm_, then you can use:

std::vector<arm_navigation_msgs::ContactInformation> contacts;
cm_->getAllCollisionsForState(*state,contacts);
for(int i=0;i<contacts.size();i++)
{
    std::cout<<contacts[i].contact_body_1<<" and "<<contacts[i].contact_body_2
            <<" in collision"<<std::endl;
}
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answered 2012-11-06 03:16:56 -0500

shuai gravatar image

Hi, thank you for the reply. I just tried it in an empty gazebo world. So there should not be objects in collision. The arm is 6 dofs plus a four fingers hand. So I have four groups. Do you think that the groups may collide? Otherwise do you know where I can check where the collisions come from? Thank you!

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see my edited answer.

yangyangcv gravatar image yangyangcv  ( 2012-11-06 18:46:38 -0500 )edit

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Asked: 2012-11-05 17:17:59 -0500

Seen: 238 times

Last updated: Nov 06 '12