I am calculating the IK for my robot setup using:
robot_state::RobotState kinematicStateArm = *m_arm.getCurrentState();
foundIkForArm = kinematicStateArm.setFromIK(jointModelGroupArm, targetPose, 10, 0.05);
kinematicStateArm.copyJointGroupPositions(jointModelGroupArm, jointValuesArm);
Now on certain occasions, I do have to restrict the joint limits in one of the joints further than required for the default case.
Is there any method that allows one to change the joint limits used within the RobotState IK framework?
I have seen that the
moveit::core::JointModel setVariableBounds()
[Reference](http://docs.ros.org/jade/api/moveit_core/html/classmoveit_1_1core_1_1JointModel.html)
allows one to modify the joint limits. However I do see no way of accessing this method from the RobotState API. Does anyone know of a method or way on how to approach my issue?
↧