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Joint flips returned from consecutive calls through MoveIt's RobotState::setFromIK

Issue #55 resolved
Former user created an issue

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)

  1. Patrick Beeson Account Deactivated

    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.

  2. Patrick Beeson Account Deactivated

    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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