Shaun, It is related, but not the same one. My fix requires a sign change in four lines, and restores the search along the redundant DOF, which brings it in line with similar calls in the PR2 code. Their fix is a much broader patch that adds new functionality (or re-enables it), but it also changes getCount in a way that I am not sure is consistent with the initial approach. It's worth a code review, but I don't know when I'll have a chance to do that. Juan Pablo ==================== Juan, Is you bug related/the same as this one: http://openrave-users-list.185357.n3.nabble.com/ROS-KDLArmKinematicsPlugin-and-IKFastKinematicsPlugin-td4025943.html Shaun Edwards Senior Research Engineer Manufacturing System Department http://robotics.swri.org http://rosindustrial.swri.org/ http://ros.swri.org Join the ROS-Industrial Developers List Southwest Research Institute 210-522-3277 *From:* ros-users-bounces@code.ros.org [mailto: ros-users-bounces@code.ros.org] *On Behalf Of *Juan Pablo Gonzalez *Sent:* Friday, February 01, 2013 8:53 AM *To:* ros-users@code.ros.org *Subject:* [ros-users] Bug in IKFastPlugin for 7DOF arms Hi All, I found a bug in the IKFastPlugin that prevents it from finding all the IK solutions in 7DOF arms. I already created a ticket https://code.google.com/p/kaist-ros-pkg/issues/detail?id=1, but since this affects several IKFast-based solvers and tutorials is there somewhere else that I should report this? Thanks, Juan Pablo Gonzalez ________________________________________________________ Juan Pablo Gonzalez, PhD General Dynamics Robotic Systems 1501 Ardmore Blvd Pittsburgh, PA, 15221 Office: (412) 473-2164 Cell: (412) 606-1367