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Trac IK joint positions beyond +/-180 degrees Whenever I compute joint positions for a trajectory using TracIK, where on

I've got a simulation setup of the Kuka KR6 Agilus running in Gazebo using MoveIt for movement.

In order to move the robot I'm calling MoveGroupInterface::setPoseTarget and MoveGroupInterface::asyncMove(), and to get the current pose I'm calling MoveGroupInterface::getCurrentPose.

There is an inconsistency between the pose that is set and the pose that is reported from MoveIt. The image below shows the pose I'm requesting and the pose I'm getting after the robot has reached its pose.

I guess the pose is correct, but why the difference in the quaternions representing orientation? I don't specify the end_effector_link in any calls to setPoseTarget() or getCurrentPose().

Sorry for the late reply, added the answer but I'm unable to accept my own answer due to limited points.

Not really a fix, but orientations became accurate when a tool was included in the kinematic chain. From what I can re

Not really a fix, but orientations became accurate when a tool was included in the kinematic chain. From what I can reca

No fix I'm afraid, just a bypass. Check out this thread on github https://github.com/ros-controls/ros_controllers/issues

The problem is with the last joint. When joint values are calculated it is set to arbitrary positions as it doesn't infl

Without any changes it now reports the following orientation (0.0, 0.7071, 0.0, 0.7071) with the same desired position a

MoveIt End effector moves correctly but reports back different orientation I've got a simulation setup of the Kuka KR6 A

Here's a video showing the behavior https://youtu.be/PqQh9spXjgM

Joint position pertubation using effort_controllers/JointPositionController This question has already been posted on ans