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perioddk / youbot_moveit_arm_kinematics

MoveIt! 5DoF IK pluging for kuka youbot
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MoveIt IK solver fails when attempting pick #1

Open esonderegger opened 10 years ago

esonderegger commented 10 years ago

Hi Rasmus,

I finally got around to trying to implement pick/place with moveit and your kinematics plugin. Moving the arm around works great until I try a pick operation. When I do, I get the following error:

[ERROR] [1388533907.737913533]: The function is not yet implemented: virtual bool youbot_kinematics::YoubotArmKinematicsPlugin::searchPositionIK(const Pose&, const std::vector&, double, std::vector&, const IKCallbackFn&, moveit_msgs::MoveItErrorCodes&, const kinematics::KinematicsQueryOptions&) const [ERROR] [1388533907.738039816]: IK solver failed with error 0 [ INFO] [1388533907.738163683]: Sampler failed to produce a state

When I look through your code, it certainly seems like the searchPositionIK function is implemented. Have you ever seen an error like this? Or do you have any advice for getting pick and place working from MoveIt on a YouBot?

Thanks, Evan

perioddk commented 10 years ago

Hi Evan,

That specific function is not implemented as I have used to the pick and place functionality of MoveIt. If you look at line 257 of "src/YoubotArmKinematicsPlugin.cpp" you'll see that the function is in fact not implemented (the searchPositionIK function which is implemented takes different parameters..).

bool YoubotArmKinematicsPlugin::searchPositionIK(const geometry_msgs::Pose &ik_pose, const std::vector &ik_seed_state, double timeout, const std::vector &consistency_limit, std::vector &solution, moveit_msgs::MoveItErrorCodes &error_code, const kinematics::KinematicsQueryOptions &options) const { ROS_ERROR("The function is not yet implemented: %s", BOOST_CURRENT_FUNCTION); return false; }

Feel free to submit a pull request if you have implemented the required functionality.