setFromIK / kinematic solver [closed]

asked 2018-06-05 11:13:27 -0600

JonasG gravatar image

Hey, I want to use the setFromIK-function of the robot_state class.

There is a upcoming error: No kinematics solver instantiated for group 'arm_1'.

I checked my srdf file, that it defines my group as a chain using:

<chain base_link="arm_link_0" tip_link="arm_link_5" />

I uploaded my kinematics.yaml on the parameter server under the name kinematics_solver. This two steps are mentioned in https://groups.google.com/forum/#!top... .

I try to use the IK Plugin from Sven Schneider for the KUKA youbot. ( https://github.com/svenschneider/youb... )

My question: Did someone know how I can fix it? Is there any default kinematics plugin which is installed with moveit, which I can use without installing a package?

I read that KDL Kinematics Plugin is a default kinematics plugin which is provided by Orocos KDL package. But this package I have to install, right?

Thanks for your time.

Best regards, Jonas

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2019-04-07 22:50:47.560710

Comments

You can select a standard solver and generate a valid kinematics.yaml using the moveit setup assistant. Does that work for your setup?

fvd gravatar image fvd  ( 2018-07-23 05:20:20 -0600 )edit
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