[ros-users] IK_planner request issue

Christian Potthast potthast at usc.edu
Mon Mar 21 20:12:46 UTC 2011

Hi all,
I am trying to get the 'MoveArmPoseGoal' tutorial to run. 
This example uses 'ompl_planning/plan_kinematic_path' for the inverse
kinematics planning. In this example the end link is specified as
'r_wrist_roll_link' which works great. I want to specify a link later in
the kinematic chain like 'r_gripper_r_finger_tip_link' ? 
By doing this I get an error:  

[ERROR] [1300737878.826638800, 
82.595000000]: Link name in service request does not match links that
kinematics can provide solutions for.
[ERROR] [1300737878.826699320, 82.595000000]: IK service request is
[ERROR] [1300737878.826925440, 82.595000000]: IK Solution not found, IK
returned with error_code: -32

Is there a way of doing this? Do I have to use a different IK planner?
What would be the best way to specify the end-effector as the last link?

Basically I need to want to pose constraint on the end-effector instead
on the r_wrist_roll_link'.


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