[ros-users] [Discourse.ros.org] [MoveIt!] Moveit! motion planning issue

Jimmy Da Silva via Discourse.ros.org ros.discourse at gmail.com
Tue Jan 29 08:41:41 UTC 2019

Hi Artemii,

I struggled myself on this one a few years ago. It's actually not a motion planning issue !
If I remember well, the UR5 joints can each rotate from -2pi to 2pi, so there is several joint solution to reach the same position.
The problem you have here is that the IK solver does not give you the closest solution to your current joint position. To solve that issue I recommend using [trac_ik](http://wiki.ros.org/trac_ik) with the option ` solve_type: Distance`
You can see an example here : https://github.com/kuka-isir/rtt_lwr/blob/rtt_lwr-2.0/lwr_moveit_config/config/kinematics.yaml

Jimmy Da Silva

[Visit Topic](https://discourse.ros.org/t/moveit-motion-planning-issue/7641/2) or reply to this email to respond.

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