expose ik_link_name argument to compute_ik()#105
Merged
AndrejOrsula merged 1 commit intoAndrejOrsula:mainfrom Aug 16, 2025
Merged
expose ik_link_name argument to compute_ik()#105AndrejOrsula merged 1 commit intoAndrejOrsula:mainfrom
AndrejOrsula merged 1 commit intoAndrejOrsula:mainfrom
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specifying the link to use for inverse kinematics
Zarnack
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AndrejOrsula
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Aug 16, 2025
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AndrejOrsula
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AndrejOrsula
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Hi @Zarnack,
Thank you very much for this contribution! It looks good, and backwards compatibility is preserved.
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Problem:
Currently, it is not possible to specify the link name on which the inverse kinematics calculation should be based. The default is always the last link of the planning group defined by the group_name parameter.
Solution:
This PR adds the ability to set the ik_link_name parameter when calling
compute_ik(...)orcompute_ik_async(...). This allows calculating IK for poses relative to different frames by exposing theself.__compute_ik_req.ik_request.ik_link_namevariable, which was not configurable before.