orrosplanning/IK Service

File: orrosplanning/IK.srv

Raw Message Definition

# the manipulator name specifying the joints to use in the IK and the coordinate system.
# if not specified, will use the first manipulator found
string manip_name

# one of Transform6D, Rotation3D, Translation3D, Direction3D, Ray4D, Lookat3D, TranslationDirection5D.
# default is Transform6D
string iktype

# specifies initial robot state (optional). If empty, then the current robot position is used
sensor_msgs/JointState joint_state

# the goal
geometry_msgs/PoseStamped pose_stamped

# default when filteroptions is 0 is: return one solution in the fast way possible.
int32 filteroptions

# filter options
int32 IGNORE_ENVIRONMENT_COLLISIONS=1
int32 IGNORE_SELF_COLLISIONS=2
int32 IGNORE_JOINT_LIMITS=4
int32 RETURN_CLOSEST_SOLUTION=8 # has to check all solutions
int32 RETURN_ALL_SOLUTIONS=16

---
# this just reuses the array inside JointPath, an actual path is not computed
trajectory_msgs/JointTrajectory solutions
arm_navigation_msgs/ArmNavigationErrorCodes error_code

Compact Message Definition

int32 IGNORE_ENVIRONMENT_COLLISIONS=1
int32 IGNORE_SELF_COLLISIONS=2
int32 IGNORE_JOINT_LIMITS=4
int32 RETURN_CLOSEST_SOLUTION=8
int32 RETURN_ALL_SOLUTIONS=16
string manip_name
string iktype
sensor_msgs/JointState joint_state
geometry_msgs/PoseStamped pose_stamped
int32 filteroptions

trajectory_msgs/JointTrajectory solutions
arm_navigation_msgs/ArmNavigationErrorCodes error_code