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Timeout for GetPositionIK service does not work as expected

I am using the GetPositionIK service offered by MoveIt! to check whether a cartesian pose for my robot is feasible in terms of kinematics and collision-free.

I am using trac_ik as a kinematics_solver for my move_group with a timeout of 5 ms and I noticed the following:

If the solve_type for the IK is Manipulation1 and the timeout I am setting in my IKRequest is 30 ms then the IK is successfully computed in around 30 ms. If I set the timeout to 10 ms, then the IK is again successfully computed but in around 10 ms.

My question is: If the IK can be computed in 10 ms, then why does it need 30 ms in the first case? Why is the timeout not working as a timeout but it seems to scale up and down the response time?

The only solve_type mode that seems to lead to reasonable results is Speed...

Timeout for GetPositionIK service does not work as expected

I am using the GetPositionIK service offered by MoveIt! to check whether a cartesian pose for my robot is feasible in terms of kinematics and collision-free.

I am using trac_ik as a kinematics_solver for my move_group with a timeout of 5 ms and I noticed the following:

If the solve_type for the IK is Manipulation1 and the timeout I am setting in my IKRequest is 30 ms then the IK is successfully computed in around 30 ms. If I set the timeout to 10 ms, then the IK is again successfully computed but in around 10 ms.

My question is: If the IK can be computed in 10 ms, then why does it need 30 ms in the first case? Why is the timeout not working as a timeout but it seems to scale up and down the response time?

The only solve_type mode that seems to lead to reasonable results is Speed...Speed.

Timeout for GetPositionIK service does not work as expected

I am using the GetPositionIK service offered by MoveIt! to check whether a cartesian pose for my robot is feasible in terms of kinematics and collision-free.

I am using trac_ik as a kinematics_solver for my move_group with a timeout of 5 ms and I noticed the following:

If the solve_type for the IK is Manipulation1 and the timeout I am setting in my IKRequest is 30 ms then the IK is successfully computed in around 30 ms. If I set the timeout to 10 ms, then the IK is again successfully computed but in around 10 ms.

My question is: If the IK can be computed in 10 ms, then why does it need 30 ms in the first case? Why is the timeout not working as a timeout but it seems to scale up and down the response time?

The only solve_type mode that seems to lead to reasonable results is Speed.

Timeout for GetPositionIK service does not work as expected

I am using the GetPositionIK service offered by MoveIt! to check whether a cartesian pose for my robot is feasible in terms of kinematics and collision-free.

I am using trac_ik as a kinematics_solver for my move_group with a timeout of 5 ms and I noticed the following:

If the solve_type for the IK is Manipulation1 and the timeout I am setting in my IKRequest is 30 ms then the IK is successfully computed in around 30 ms. If I set the timeout to 10 ms, then the IK is again successfully computed but in around 10 ms.

My question is: If the IK can be computed in 10 ms, then why does it need 30 ms in the first case? Why is the timeout not working as a timeout but it seems to scale up and down the response time?

The only solve_type mode that seems to lead to reasonable results is Speed.