tams-group / bio_ik_service Goto Github PK

Edit: running on Ubuntu 18.04, ros-melodic

I run:
roslaunch pr2_moveit_bio_ik demo.launch

the pr2 loads in rviz and I can drag and move around the 2 gripper and 1 wrist markers.

I run
rosrun bio_ik_service_examples get_bio_ik.py
and nothing happens

If I list the services it looks like the bio_ik_service never loads which is why the get_bio_ik.py gets stuck waiting for the service to load.

I'm not sure how to launch the service manually as the bio_ik_service package doesn't have a launch file. I assume it should be launched automatically by moveit. I was not able to see any code for launching bio_ik_service in moveit_bio_ik_demo.launch.

Am I missing something?

rosservice list
/apply_planning_scene
/check_state_validity
/clear_octomap
/compute_cartesian_path
/compute_fk
/compute_ik
/get_planner_params
/get_planning_scene
/joint_state_publisher/get_loggers
/joint_state_publisher/set_logger_level
/move_group/get_loggers
/move_group/load_map
/move_group/ompl/set_parameters
/move_group/plan_execution/set_parameters
/move_group/planning_scene_monitor/set_parameters
/move_group/save_map
/move_group/sense_for_plan/set_parameters
/move_group/set_logger_level
/move_group/trajectory_execution/set_parameters
/plan_kinematic_path
/query_planner_interface
/robot_state_publisher/get_loggers
/robot_state_publisher/set_logger_level
/rosout/get_loggers
/rosout/set_logger_level
/rviz_UKRDL64754_27164_3291355931709597419/get_loggers
/rviz_UKRDL64754_27164_3291355931709597419/load_config
/rviz_UKRDL64754_27164_3291355931709597419/motionplanning_planning_scene_monitor/set_parameters
/rviz_UKRDL64754_27164_3291355931709597419/reload_shaders
/rviz_UKRDL64754_27164_3291355931709597419/save_config
/rviz_UKRDL64754_27164_3291355931709597419/set_logger_level
/set_planner_params
/virtual_joint_broadcaster_0/get_loggers
/virtual_joint_broadcaster_0/set_logger_level

Thanks

Hello, the repo bio_ik_service is incompatible with moveit-kinetic, bio_ik-kinematic. Which is master branch of bio_ik? Thank you!

Hello,
Thank you very much for the excellent Ik solver. Currently I am working on a humanoid IK project. But the IK solution of joint positions for several joints jump largely from time step k to k+1. I found that I need add a minimal_displacement goal. But I found that the msg of minimal_displacement goal doesn't support passing the current state to the bio_ik_serive.

Would you please tell me how to pass the current robot state from current node(client node) to the bio_ik_service node? Thank you very much!

could you please provide a ros-kinetic version? thank you.