| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
The default KDL IK solver is still not robust enough. Hence I am planning to use trac_ik.
Instead of keeping the orientation constant throughout the trajectory, I want it to change within specified limits. My question is how to perform orientation constrained based Inverse Kinematics in trac_ik?
I just asked the maintainer on your behalf, who said:
You can't do orientation constraints with the moveit plugin, only when you're using trac_ik_lib directly. As outlined at the bottom of the README, you can specify an orientation (and position) tolerance in the KDL::Twist message provided to ik_solver.CartToJnt(...), which are +/- symmetric.
Hope that helps.
Asked: 2017-02-17 07:28:53 -0600
Seen: 882 times
Last updated: Feb 20 '17
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.
