Joint flips returned from consecutive calls through MoveIt's RobotState::setFromIK
Issue #55
resolved
I am having issues since migrating to Melodic. I posted in detail on rosanswers here: https://answers.ros.org/question/310062/incorrectunexpected-behavior-from-trac-ik-with-calls-to-moveitcorerobotstatesetfromik/
Somehow I am getting IK results returned that are not the closest solution to the seed / current pose.
Comments (2)
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Because there is a single branch, any difference would not be from TRAC-iK. Also, if you are seeding and want answers closest to the seed, you want to use the Distance metric with a small time (like 1ms) to keep the system running quickly.
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The kinetic and melodic packages are built from the exact same source code. So if this worked in kinetic and doesn’t in melodic then it likely an issue with MoveIt.