0
$\begingroup$

Rosanswers logo

The default KDL IK solver is still not robust enough. Hence I am planning to use trac_ik.

Instead of keeping the orientation constant throughout the trajectory, I want it to change within specified limits. My question is how to perform orientation constrained based Inverse Kinematics in trac_ik?


Originally posted by ravijoshi on ROS Answers with karma: 1744 on 2017-02-17

Post score: 0

$\endgroup$

1 Answer 1

0
$\begingroup$

Rosanswers logo

I just asked the maintainer on your behalf, who said:

You can't do orientation constraints with the moveit plugin, only when you're using trac_ik_lib directly. As outlined at the bottom of the README, you can specify an orientation (and position) tolerance in the KDL::Twist message provided to ik_solver.CartToJnt(...), which are +/- symmetric.

Hope that helps.


Originally posted by kramer with karma: 1470 on 2017-02-20

This answer was ACCEPTED on the original site

Post score: 2


Original comments

Comment by ravijoshi on 2018-06-06:
Can you please answer a related question here?

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.