Open julyfun opened 1 month ago
You need to ensure that your other cpp node also gets the kinematics parameters. Probably there is another warning complaining about missing kinematics parameters.
You need to ensure that your other cpp node also gets the kinematics parameters. Probably there is another warning complaining about missing kinematics parameters.
Thank you! I've found another warning during the launch time of the cpp node.
[ik_moveit_exe-1] [WARN] [1723100872.151901380] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
Would you please remind me of how can a cpp node get kinematics parameters?
Description
See Steps to reproduce.
Your environment
Steps to reproduce
ik solver
toKDLPlugin
.demo.launch.py
under the package generated by Setup AssistantGet MoveGroupInterface:
Get RobotState and
setFromIK()
:The full code is here: https://github.com/julyfun/fast_control/blob/c4eb5653791bcce04657a497453795800ce8895d/ik/src/moveit.cpp#L965
Expected behaviour
Get the IK result in
kinematic_state
Backtrace or Console output
The Ik failed with:
No other error or warning.