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Bugfix/fix lin plans using subframes#7
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riv-mjohnson merged 8 commits intomasterfrom Oct 31, 2023
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Co-authored-by: Robert Haschke <rhaschke@users.noreply.github.com>
riv-mjohnson
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Oct 31, 2023
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Description
Fixes moveit#3517 by allowing pilz to use subframes in goal constraints.
Updates
computePoseIK()to build aRobotStatefrom thePlanningScenerather than theRobotModel, so that subframes are taken into account. Also adds some error handling logic around calls to this function as, currently, if the passedlink_namedoes not exist, thestart_poseis set to the identity pose, which leads to a less intuitive IK solver error later on.Tests still need updating.