I should add that the restoring the search along the redundant DOF should
find the solution that is closest to the seed when using searchPositionIK.
Since the intended design searches for new solution by stepping away from
the seed in discrete increments, the solution closest to the seed should be
found first. From that point of view maybe the two bugs are indeed the
same.

On Fri, Feb 1, 2013 at 10:53 AM, Juan Pablo Gonzalez <jpgonzal@yahoo.com>wrote:

> 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<https://groups.google.com/group/swri-ros-pkg-dev/boxsubscribe>
>
> 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
>