changing solver dynamically without restarting nodes in ROS

[Le.Zhang]

Is it possible to use rosparam set on the solver_type dynamically without restarting anything?

[Stephen Hart]

You can use a function call to set the solve type once the TRAC_IK instance has been created.

https://bitbucket.org/traclabs/trac_ik/src/master/trac_ik_lib/include/trac_ik/trac_ik.hpp#lines-104

You’re application would need to call this function, of course, but you shouldn't need to restart the node or instance. Is this sufficient for your needs?

[Le.Zhang]

Sorry I think I was a little unclear. I’m just a little confused with how Moveit is wrapping all of this together. I’m launching moveit with a kinematics.yaml as:

‌

arm:
  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
  kinematics_solver_timeout: 0.005
  solve_type: Distance

which just loads the trac_ik as a plugin. Does the plugin allow me access change the solve_type?

[Mike Lanighan]

This question is probably better answered by the moveit developers. If you use trac-ik outside of moveit then you can switch solve types dynamically as Stephen mentioned earlier.