Inverse kinematics for the PR2 arms [closed]

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Hey all,

I am having some troubles using the Left and Right IK Services provided by .launch of the Planning Description Wizard's <robot_name>_arm_services package. I have been able to use the forward kinematics tutorial, but the inverse kinematics tutorial doesn't work. I get an error (and not a very descriptive one to me)

ROS_ERROR("Inverse kinematics service call failed");

So according to the code this must mean that this returned false, if(ik_client.call(gpik_req, gpik_res))

Does anyone know what could be going on? I find it strange I can use the forward kinematics but not the inverse kinematics. Should I try to write my own plugins/services or keep working with these prebuilt services?

Many thanks in advance!

Kind Regards, Martin