about the kinematics_msgs::GetPositionIK::Request and response
Hi everyone, I am planning the trajectory of 6dof robot arm to move arm from a initial position to a new position. First I have to get the ik solution and then plan in joint space. When using kinematics_msgs::GetPositionIK::Request and response to get the ik, usually can not get a IK solution. Such as: When i use position(.235,-.2996,-.3011) and quaternions(.674056,-.73868,0,0) , can get the IK solution. If the position is (.235,-.3,-.3) and quaternions are the same are (.674056,-.73868,0,0) , can not get the IK solution. The data nearly is the same. How to solve such problem? I am using ros fuerte on Ubuntu12.04 Thanks advance
These services are usually implemented by the driver of your arm. Please specify which arm you are using and which package you use.
Thanks for your responds very much. In fact we already have a urdf file and can drive reality robot arm through warehouse-viewer .we try to get the ik and drive the arm to some positions. I just wondering sometimes the Ik solution can get, but round data then can not get ik solution( above data)