Trac IK Speeding it Up

[Former user]

Hi!

This is for a project my lab is doing with Boeing. I've implemented trac_ik (separate from moveIT) for my robot model loaded from URDF, 8 DOF using KDL Jnt arrays and the solve rate is averaging about 1s - which is really slow. I've tried seeding the IK and that has lead to the current solve rate. The frequency at which I'me sending waypoints ( cart points ) is about 1000Hz. What is the best way to speed this up aside from the parametrizing the search time? I also use the FK capability for

Another issue we have is that trac_ik fails to find a solution when we pass in the user frame - is there a way to combat that?

Thank you!

[Sara Misra]

Hi ! I've solved the issues. Thank you!

[Patrick Beeson]

Closing.