I switched to using trac_ik for my kinematics plugin and set the solve type to distance. Here's my kinematics.yaml
manipulator:
kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin
solve_type: Distance
kinematics_solver_search_resolution: 0.002
kinematics_solver_timeout: 0.1
kinematics_solver_attempts: 300
However, when I launch MoveIt I get the following messages:
[ INFO] [1498738699.604294668]: Looking in private handle: /move_group_commander_wrappers_1498738699102337314 for param name: manipulator/solve_type
[ INFO] [1498738699.605287670]: Using solve type Speed
Am I setting the solve type incorrectly for use in MoveIt?
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