I am following these instructions to set up Moveit on the Stretch robot. In this tutorial, they never actually use the IK solver for the arm or the mobile base, as far as I can see only joint target positions are set using the Rviz plugin.
I tried to set goal poses for the end effector and ask Moveit to plan to reach this position for the mobile base or for the arm only. In both cases Moveit couldn't find a valid path.
Do you know if stretch_moveit_config or this plugin are set up correctly to do IK for the whole robot or for the arm only ? Thank you
I am following these instructions to set up Moveit on the Stretch robot. In this tutorial, they never actually use the IK solver for the arm or the mobile base, as far as I can see only joint target positions are set using the Rviz plugin.
I tried to set goal poses for the end effector and ask Moveit to plan to reach this position for the mobile base or for the arm only. In both cases Moveit couldn't find a valid path.
Do you know if stretch_moveit_config or this plugin are set up correctly to do IK for the whole robot or for the arm only ? Thank you