I am using the `GetPositionIK` service offered by MoveIt! to check whether a cartesian pose for my robot is feasible in terms of kinematics and collision-free.
I am using `trac_ik` as a kinematics_solver for my move_group with a timeout of 5 ms and I noticed the following:
If the solve_type for the IK is `Manipulation1` and the timeout I am setting in my IKRequest is 30 ms then the IK is successfully computed in around 30 ms. If I set the timeout to 10 ms, then the IK is again successfully computed but in around 10 ms.
My question is:
If the IK can be computed in 10 ms, then why does it need 30 ms in the first case? Why is the timeout not working as a timeout but it seems to scale up and down the response time?
The only solve_type mode that seems to lead to reasonable results is `Speed`.
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