kinematics_msgs/GetPositionIK Service

kinematics_msgs/PositionIKRequest ik_request
    string ik_link_name
    geometry_msgs/PoseStamped pose_stamped
        Header header
            uint32 seq
            time stamp
            string frame_id
        geometry_msgs/Pose pose
            geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
            geometry_msgs/Quaternion orientation
                float64 x
                float64 y
                float64 z
                float64 w
    motion_planning_msgs/RobotState ik_seed_state
        sensor_msgs/JointState joint_state
            Header header
                uint32 seq
                time stamp
                string frame_id
            string[] name
            float64[] position
            float64[] velocity
            float64[] effort
        motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
            time stamp
            string[] joint_names
            string[] frame_ids
            string[] child_frame_ids
            geometry_msgs/Pose[] poses
                geometry_msgs/Point position
                    float64 x
                    float64 y
                    float64 z
                geometry_msgs/Quaternion orientation
                    float64 x
                    float64 y
                    float64 z
                    float64 w
    motion_planning_msgs/RobotState robot_state
        sensor_msgs/JointState joint_state
            Header header
                uint32 seq
                time stamp
                string frame_id
            string[] name
            float64[] position
            float64[] velocity
            float64[] effort
        motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
            time stamp
            string[] joint_names
            string[] frame_ids
            string[] child_frame_ids
            geometry_msgs/Pose[] poses
                geometry_msgs/Point position
                    float64 x
                    float64 y
                    float64 z
                geometry_msgs/Quaternion orientation
                    float64 x
                    float64 y
                    float64 z
                    float64 w
duration timeout

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motion_planning_msgs/RobotState solution
    sensor_msgs/JointState joint_state
        Header header
            uint32 seq
            time stamp
            string frame_id
        string[] name
        float64[] position
        float64[] velocity
        float64[] effort
    motion_planning_msgs/MultiDOFJointState multi_dof_joint_state
        time stamp
        string[] joint_names
        string[] frame_ids
        string[] child_frame_ids
        geometry_msgs/Pose[] poses
            geometry_msgs/Point position
                float64 x
                float64 y
                float64 z
            geometry_msgs/Quaternion orientation
                float64 x
                float64 y
                float64 z
                float64 w
motion_planning_msgs/ArmNavigationErrorCodes error_code
    int32 PLANNING_FAILED=-1
    int32 SUCCESS=1
    int32 TIMED_OUT=-2
    int32 START_STATE_IN_COLLISION=-3
    int32 START_STATE_VIOLATES_PATH_CONSTRAINTS=-4
    int32 GOAL_IN_COLLISION=-5
    int32 GOAL_VIOLATES_PATH_CONSTRAINTS=-6
    int32 INVALID_ROBOT_STATE=-7
    int32 INCOMPLETE_ROBOT_STATE=-8
    int32 INVALID_PLANNER_ID=-9
    int32 INVALID_NUM_PLANNING_ATTEMPTS=-10
    int32 INVALID_ALLOWED_PLANNING_TIME=-11
    int32 INVALID_GROUP_NAME=-12
    int32 INVALID_GOAL_JOINT_CONSTRAINTS=-13
    int32 INVALID_GOAL_POSITION_CONSTRAINTS=-14
    int32 INVALID_GOAL_ORIENTATION_CONSTRAINTS=-15
    int32 INVALID_PATH_JOINT_CONSTRAINTS=-16
    int32 INVALID_PATH_POSITION_CONSTRAINTS=-17
    int32 INVALID_PATH_ORIENTATION_CONSTRAINTS=-18
    int32 INVALID_TRAJECTORY=-19
    int32 INVALID_INDEX=-20
    int32 JOINT_LIMITS_VIOLATED=-21
    int32 PATH_CONSTRAINTS_VIOLATED=-22
    int32 COLLISION_CONSTRAINTS_VIOLATED=-23
    int32 GOAL_CONSTRAINTS_VIOLATED=-24
    int32 JOINTS_NOT_MOVING=-25
    int32 TRAJECTORY_CONTROLLER_FAILED=-26
    int32 FRAME_TRANSFORM_FAILURE=-27
    int32 COLLISION_CHECKING_UNAVAILABLE=-28
    int32 ROBOT_STATE_STALE=-29
    int32 SENSOR_INFO_STALE=-30
    int32 NO_IK_SOLUTION=-31
    int32 INVALID_LINK_NAME=-32
    int32 IK_LINK_IN_COLLISION=-33
    int32 NO_FK_SOLUTION=-34
    int32 KINEMATICS_STATE_IN_COLLISION=-35
    int32 INVALID_TIMEOUT=-36
    int32 val