Goal State IK Solve Bug Fix

ros-industrial / stomp_ros

ROS packages for the STOMP planner (split out of industrial_moveit)

Apache License 2.0

37 stars 27 forks source link

Goal State IK Solve Bug Fix #21

Closed marip8 closed 4 years ago

marip8 commented 4 years ago

This PR updates the MoveIt planner to perform a goal IK solve using the end pose of the seed trajectory (instead of the first pose) as a seed state for the IK solver when checking whether a Cartesian goal is within tolerance of the seed trajectory. This addresses one of the issues in #19

jrgnicho commented 4 years ago

@marip8 thanks for the contribution

jrgnicho commented 4 years ago

fixes #19