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JeroenDM / moveit_opw_kinematics_plugin

An attempt at writing a MoveIt! plugin for opw_kinematics.
http://wiki.ros.org/moveit_opw_kinematics_plugin
Apache License 2.0
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What KinematicsBase function to use for returning all IK solutions? #4

Closed JeroenDM closed 6 years ago

JeroenDM commented 6 years ago

I defined this function to return all valid solutions calculated by opw_kinematics. This does not seem right. I could not find an example in the universal robot kinematics plugin.

This is related to the fact that descartes uses a custom MoveIt! wrapper to get all the soluitons, as discussed here and here.

JeroenDM commented 6 years ago

Based on this discussion I think I did use the right function. Also, the obvious fact that it is implemented that way in the ikfast plugin, which I somehow missed.

simonschmeisser commented 5 years ago

then let's reopen this?