Youbot Inverse Kinematics using Planning Description Configuration Wizard

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Hi,

did anyone try the arm_navigation Tutorials to get an inverse kinematic for the KUKA youbot including the collision avoidance?

The provided inverse kinematics control in rviz doesn't work as i expected.

Here is what i did:

I created the urdf file using xacro:

rosrun xacro xacro.py `rospack find youbot_description`/robots/youbot_arm.urdf.xacro
-o `rospack find youbot_navigation`/urdf/my_youbot.urdf

youbot_navigation is a package i created for storing files containing the youbot. I also altered the name from youbot to my_youbot inside the created urdf file, because the wizard uses the name later to create a package called robotname_arm_navigation and this already exists in my ROS environment.

Next i checked the file:

rosrun urdf check_urdf `rospack find youbout_navigation`/urdf/my_youbot.urdf

and got the following output:

robot name is: my_youbot
---------- Successfully Parsed XML ---------------
root Link: base_link has 1 child(ren)
    child(1):  arm_link_0
        child(1):  arm_link_1
            child(1):  arm_link_2
                child(1):  arm_link_3
                    child(1):  arm_link_4
                        child(1):  arm_link_5
                            child(1):  gripper_palm_link
                                child(1):  gripper_finger_link_l
                                child(2):  gripper_finger_link_r

Then i started the Wizard:

roslaunch planning_environment planning_description_configuration_wizard.launch urdf_package:=youbot_navigation urdf_path:=urdf/my_youbot.urdf

I tested various settings, using the easy or the advanced mode, dense or sparse sampling modes. For the kinematic chain i added the group:

Base Link:    arm_link_0
Tip Link:     arm_link_5

Afterwards i choosed a directory and the wizard created the package. At least i launch the vizualiser via:

roslaunch my_youbot_arm_navigation planning_components_visualizer.launch

When i now click interact and try to use the ik_control only very few movements can be solved. I can only use translation of or rotation around the x-axis of arm_link_5 in a small range. All other positions i navigate the tip link to can not be solved, though i think they should be possible.

Using the manual joint control many many more positions can be solved. Is it because i'm not precise enough moving the tip link in a possible position? Did i do anything else wrong?