Could IK solver called by arm_navigation auto-generated file work for 5 DOF manipulator
Hi, all,
We have a 5 DOF manipulator, the ompl planner keeps throwing out "IK Solution not found, IK returned with error_code: -31", when I pass pose goal to the navigation server. I doubt is it because the IK solver didn't support 5 DOF arm.
What I have done so far is:
- I used the planning description configuration wizard to generate the launch file and it works fine in Planning Components Visualizer, except I can't specify start and end postition using end effector control which is expected.
- I changed the controller_action_name to be the action name of my real robot.
- I changed the auto-generated ompl_planning.yaml in which I delete roll in state space, because we are only interested in the direction not the orientation of the end effector. I don't know if it is neccessary, but I tried both and got the same result.
- I use move_arm_joint_goal and modify it according to my robot, it works. But when I use move_arm_pose_goal and do the corresponding modification for my robot, the IK solver keep throwing out "IK Solution not found, IK returned with error_code: -31". I have tried different value for the desired pose constraint and tolerance, even didn't specify the constraint of the desired pose, but got the same result.
Could anyone give me any hint what might be the possible cause to this problem? Thanks a lot.