Setting solve_type manually

[Florian Voigtländer]

Dear all,

is it possible to set the solve_type manually? -I currently try to set it within the kinematics.yaml file, but every time I access it via the moveIt python interfaces, the default solve_type (Speed) is used.

Thank you very much for your answer!

Best Regards,

Florian

[Markus Sigg]

I had the same issue. The problem is caused by wrong namespaces...

• the parameters from the kinematics.yaml file normally go into namespace /robot_description_kinematics/<group_name>/* (see file planning_context.launch)

• the trac_ik kinematics plugin tries to read the parameters from I think /move_group/<group_name>/* (you can check this in the MoveIt! startup console output in lines beginning with: Looking in private handle: ...

In this case trac_ik will always use the standard parameter values solve_type Speed and position_only_ik false.

[Patrick Beeson]

@siggie0815 is correct. Because this is a plugin, it gets loaded under the /move_group namespace. There's not much to do about this short of hard code /robot_description_kinematics. But that could be changed by a user in a launch file. This is unfortunately how all the MoveIt! plugins work right now.