perioddk / youbot_moveit_arm_kinematics Goto Github PK

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