kinematics_msgs/GetConstraintAwarePositionIK Service

# A service call to carry out an inverse kinematics computation
# The inverse kinematics request
kinematics_msgs/PositionIKRequest ik_request
# A set of constraints that the IK must obey
arm_navigation_msgs/Constraints constraints
# Maximum allowed time for IK calculation
duration timeout
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# The returned solution 
arm_navigation_msgs/RobotState solution
arm_navigation_msgs/ArmNavigationErrorCodes error_code