trac_ik example with a few modifications

[Boluwatife Falaye]

Hello.

I'm trying to use the trac_ik solver and so I started by test running the trac_ik example.

I made simple modification in the code since i want to create a chain and perform inverse kinematics only for the left arm of my robot. The changes are basically where we have nodehandle parameter call. I changed the variables to left_chain_base and left_chain_tip. I also made the necessary modifications to my CMakelist and .xml files. likewise, in my launch file, I selected names of links in my robot.

When I run the code the cpp file is able to build, but on the rosrun command, it says "Missing chain info in launch file".

Kindly explain how and why?

[Patrick Beeson]

This issue fell through the cracks. Presumably a variable was missing/mistyped in the launch file?