Questions tagged [trac-ik]

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Moveit set_pose_target() weird motions

I have an ABB IRB 1200 robotic arm that I'm controlling with MoveIt in ROS Noetic. Using move_group.set_pose_target(pose), I'm getting weird inefficient motions ...
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Use a catkin package in another package

Hi, I am on ROS Melodic, Ubuntu 18.04 I have the trac_ik package in my catkin workspace. When I do catkin_make, everything goes well. I have another package ...
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Trac_IK plugin for MoveIt group relies on deprecated API

Is there a neat way to handle this warning while using Trac-IK solver with MoveIt Assistant? ...
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Trac IK solver type

I just start trying Trac IK for my humanoid robot project using Python. In the example code, the solver type is "Speed", but there are another solver type ("Distance", "...
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Closing kinematic loop with trac_ik

Hello List, Creating simulation of a rower in a boat using ros, gazebo and trac_ik. There are three kinematic loops in the robot's description. This cannot be described in URDF, so they should be ...
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trac_ik fails on melodic

Hello list, After loading a simple urdf in the parameter server using the following launch file: ...
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Unit for the bounds of the IK call in trac_ik_python

I am using the get_ik function provided by trac_ik_python in the following way- ...
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How to use IK library inside Python SMACH state (Python)?

I want to create create complex behaviors using the SMACH library (e.g. grasping an object, bipod walking, etc). In order to maintain flexibility, inside my SMACH state machines, I've used ...
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RRTConnect/TRAC IK fails only on Distance solve_type

So I'm trying to change the solve_type to "Distance" as opposed to "Speed" for TRAC IK. RRTConnect and TRAC IK acknowledge the change, but I'm ...
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MoveIt! path final position is off significantly

Hi everyone. I'm trying to use MoveIt! for path planning. I'm using the TRAC_IK and I set the timeout to 10 seconds (just as a debugging measure), but the final position is consistently off by an ...
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Using correct solve_type when running code

This question is related to one I posted earlier: http://answers.ros.org/question/265135/moveit-using-solve-type-speed-instead-of-distance/. MoveIt! currently launches correctly with solve_type: ...
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Moveit! Using solve type speed instead of distance

I switched to using trac_ik for my kinematics plugin and set the solve type to distance. Here's my kinematics.yaml ...
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How to perform orientation constrained based Inverse Kinematics in trac_ik

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 ...
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Slow sync of ShadowRepo to Public

I've had several people lately ask when I'm going to release my package on Kinetic. I just realized that it's been a month and hasn't migrated from the Shadow Fixed to the Public one. How long does ...
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Question On How To Use TRAC-IK?

I am trying to experiment with code that uses the TRAK_IK_LIB, before implementing it into my robot. The source code may be found here (https://bitbucket.org/traclabs/trac_ik/src/8bc7356ba6da?at=...
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how to use trac_ik library?

Hi there, I am trying to use the new library trac_ik in order to improve efficiency of the inverse kinematic process but I am not sure how to do it. Does anyone find out a way to use it? thanks ...
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