Hello
i´ve a problem with ikfast for moveit. i´ve gone trough all tutorials and KDL and Trac_ik are working fine in rviz.
However when i´m using the 3DOF IKfast i cant set the goal position with the marker or interact in any way with the leg with Move Group Interface.
The leg is a simple leg with 3 actors in a row.
when i print `openrave-robot.py .dae --info links` i´ve got the following links
base_link 0
thorax 1 base_link
leg_center_l1 2 thorax
coxa_l1 3 leg_center_l1
femur_l1 4 coxa_l1
tibia_l1 5 femur_l1
tibia_foot_l1 6 tibia_l1
the ik-fast was calclulated with
python `openrave-config --python-dir`/openravepy/_openravepy_/ikfast.py --robot=.dae --iktype=translation3d --baselink=2 --eelink=6 --savefile=ik_leg1.cpp
so it is the exact same problem as in this case https://www.youtube.com/watch?v=M1c8A-DfghA
but using "position_only_ik: true" in kinematics.yaml doesnt solve the problem
leg_1:
kinematics_solver: group_kinematics/IKFastKinematicsPlugin
kinematics_solver_attempts: 3
kinematics_solver_search_resolution: 0.005
kinematics_solver_timeout: 0.005
position_only_ik: true
I assume that the IK cannot solve for the solution and somehow the srdf **may** be wrong.
I´ve used many configurations in the srdf from assigning only joints and one eef.
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