The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
So I am wondering if I could use multiple kinematics solver [..] so that I can tell the robot: Use solver 1 with position_only_ik:false and if you failed use solver 2 with position_only_ik:true.
No, this is currently not supported by MoveIt.
A workaround could be to implement an IK solver yourself which realises this behaviour (ie: uses multiple IK solvers internally itself).
That way MoveIt would only see a single solver, but you'd still achieve the behaviour you describe.
change the position_only_ik value online
Afaik position_only_ik is not a dynamic_reconfigure parameter, so this would also not be supported.
It would be easy to check though: just start MoveIt, start rqt_reconfigure and see whether that parameter is there.
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
