Using a different inverse kinematics solver

tork-a / jog_control

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Using a different inverse kinematics solver #41

Closed m-talha closed 4 years ago

m-talha commented 4 years ago

I would like to use a different IK algorithm from the MoveIt library than the one currently in use as it doesn't work very well for my current 6-DOF arm. Can you guide me on how to go about doing this? Thanks

7675t commented 4 years ago

All nodes in jog_control just use compute_ik service of MoveIt! . So you can change your MoveIt! settings for IK and so in jog_control.

The IK setting of MoveIt! is described around here.

7675t commented 4 years ago

You are welcome.