get_fk works but get_ik doesn't from same service node
Hello all,
I am trying to access my rosservice node made by the warehouse arm navigation wizard. The service is running but when I try to execute a simple ik calculation (through the get_ik tutorial) my code crashes here:
if(ik_client.call(gpik_req, gpik_res))
with a console error:
martin@ubuntu:~# rosrun H20_robot_arm_navigation get_left_ik
[ INFO] [1360706997.070270979]: 1
[ INFO] [1360706997.070335100]: 2
[ INFO] [1360706997.070358093]: 3
[ INFO] [1360706997.070378924]: 4
[ERROR] [1360706997.071244382]: Inverse kinematics service call failed
I put some ROS_INFO lines for the purposes of debugging: Here is the full code that I used from the tutorials:
#include <ros/ros.h>
#include <kinematics_msgs/GetKinematicSolverInfo.h>
#include <kinematics_msgs/GetPositionIK.h>
int main(int argc, char **argv){
ros::init (argc, argv, "get_ik");
ros::NodeHandle rh;
ros::service::waitForService("H20_robot_left_arm_kinematics/get_ik_solver_info");
ros::service::waitForService("H20_robot_left_arm_kinematics/get_ik");
ros::ServiceClient query_client = rh.serviceClient<kinematics_msgs::GetKinematicSolverInfo>("H20_robot_left_arm_kinematics/get_ik_solver_info");
ros::ServiceClient ik_client = rh.serviceClient<kinematics_msgs::GetPositionIK>("H20_robot_left_arm_kinematics/get_ik");
// define the service message
kinematics_msgs::GetKinematicSolverInfo::Request request;
kinematics_msgs::GetKinematicSolverInfo::Response response;
if(query_client.call(request,response))
{
for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
{
ROS_DEBUG("Joint: %d %s",i,response.kinematic_solver_info.joint_names[i].c_str());
}
}
else
{
ROS_ERROR("Could not call query service");
ros::shutdown();
exit(1);
}
// define the service messages
kinematics_msgs::GetPositionIK::Request gpik_req;
kinematics_msgs::GetPositionIK::Response gpik_res;
gpik_req.timeout = ros::Duration(5.0);
gpik_req.ik_request.ik_link_name = "left_hand_link";
ROS_INFO(" 1 ");
gpik_req.ik_request.pose_stamped.header.frame_id = "base_link";
gpik_req.ik_request.pose_stamped.pose.position.x = 0.235;
gpik_req.ik_request.pose_stamped.pose.position.y = -0.04445;
gpik_req.ik_request.pose_stamped.pose.position.z = -0.609;
ROS_INFO(" 2 ");
gpik_req.ik_request.pose_stamped.pose.orientation.x = 0.99;
gpik_req.ik_request.pose_stamped.pose.orientation.y = -0.0782;
gpik_req.ik_request.pose_stamped.pose.orientation.z = 0.0;
gpik_req.ik_request.pose_stamped.pose.orientation.w = 1.0;
gpik_req.ik_request.ik_seed_state.joint_state.position.resize(response.kinematic_solver_info.joint_names.size());
gpik_req.ik_request.ik_seed_state.joint_state.name = response.kinematic_solver_info.joint_names;
ROS_INFO(" 3 ");
for(unsigned int i=0; i< response.kinematic_solver_info.joint_names.size(); i++)
{
gpik_req.ik_request.ik_seed_state.joint_state.position[i] = (response.kinematic_solver_info.limits[i].min_position + response.kinematic_solver_info.limits[i].max_position)/2.0;
}
ROS_INFO(" 4 ");
if(ik_client.call(gpik_req, gpik_res))
{
ROS_INFO(" 5 ");
if(gpik_res.error_code.val == gpik_res.error_code.SUCCESS)
for(unsigned int i=0; i < gpik_res.solution.joint_state.name.size(); i ++)
ROS_INFO("Joint: %s %f",gpik_res.solution.joint_state.name[i].c_str(),gpik_res.solution.joint_state.position[i]);
else
ROS_ERROR("Inverse kinematics failed");
}
else
ROS_ERROR("Inverse kinematics service call failed");
ros::shutdown();
}
Does anyone know what is going wrong? I used the get_fk tutorial.
Kind Regards, Martin
I'm dealing with the same issue now Martin and I have no idea about what to do. Did you find a workaround? Regards, Carlos
It does work that way! Thank you! But it also means that the warehouse viewer is doing something that we're not and I can't figure out what is it! Could it be it's not properly instantiating ArmKinematicsConstraintAware with the custom robot parameters? or something about TF? I'll keep looking!
I believe it is instantiating a planning scene, but I haven't looked into it further yet. I believe you have to set a blank (or saved) planning scene and it's a fairly simple call! If you find out how please let me know, I'm taking a break from coding to write my thesis these days. Best of luck!