using move_group for ik solver

[k-okada]

We can use moveit_msgs/msg/{PositionIKRequest.msg,KinematicSolverInfo.msg} instaed of msg from arm_navigation
@aginika

[davetcoleman]

@isucan are there any other nodes that wrap the IK solver functionality without launch a move_group capability? thanks!

[isucan]

Nope, there are not.

[trainman419]

I think the right solution here is to reimplement pr2_kinematics on top of MoveIt, as per: PR2/pr2_kinematics#2 .

[davetcoleman]

So you mean reimplement a node that wrap's MoveIt!'s IK solver functionality without requiring to launch all of MoveIt!?

One suggestion I offered to @k-okada is just launch move_group with only one capability:

<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
    <param name="capabilities" value="move_group/MoveGroupKinematicsService" />
</node>

[trainman419]

As a compatibility layer so that nodes developed against the old API continue to work, yes.

(I believe that node used to do what you're looking for, and reviving it would be a great service to the PR2 community)

[davetcoleman]

Actually I don't work with the PR2, @k-okada was just asking me because I know MoveIt!

(so not volunteering)

[UltronDestroyer]

pr2_kinematics has now been re-implemented ontop of MoveIt.PR2/pr2_kinematics@de17caa. pr2_apps has been re-written to use MoveIt as the backend. #12 discusses changes and testing and #13 is the one that is planning to be merged.

[davetcoleman]

+1 to doing this!