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Allow attached objects in move_group's /compute_ik pose frames #3144

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Allow attached objects in move_group's /compute_ik pose frames #3144

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18 changes: 13 additions & 5 deletions moveit_ros/move_group/src/default_capabilities/kinematics_service_capability.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,7 +91,6 @@ void MoveGroupKinematicsService::computeIK(moveit_msgs::msg::PositionIKRequest&
{
moveit::core::robotStateMsgToRobotState(req.robot_state, rs);
}
const std::string& default_frame = context_->planning_scene_monitor_->getRobotModel()->getModelFrame();

if (req.pose_stamped_vector.empty() || req.pose_stamped_vector.size() == 1)
{
Expand All @@ -101,16 +100,22 @@ void MoveGroupKinematicsService::computeIK(moveit_msgs::msg::PositionIKRequest&
(req.ik_link_names.empty() ? "" : req.ik_link_names[0]) :
req.ik_link_name;

if (performTransform(req_pose, default_frame))
bool frame_found = false;
const Eigen::Isometry3d& transform = rs.getFrameTransform(req_pose.header.frame_id, &frame_found);

if (frame_found)
{
Eigen::Isometry3d pose;
tf2::fromMsg(req_pose.pose, pose);
pose = transform * pose;
bool result_ik = false;
if (ik_link.empty())
{
result_ik = rs.setFromIK(jmg, req_pose.pose, req.timeout.sec, constraint);
result_ik = rs.setFromIK(jmg, pose, req.timeout.sec, constraint);
}
else
{
result_ik = rs.setFromIK(jmg, req_pose.pose, ik_link, req.timeout.sec, constraint);
result_ik = rs.setFromIK(jmg, pose, ik_link, req.timeout.sec, constraint);
}

if (result_ik)
Expand All @@ -137,9 +142,12 @@ void MoveGroupKinematicsService::computeIK(moveit_msgs::msg::PositionIKRequest&
for (std::size_t k = 0; k < req.pose_stamped_vector.size(); ++k)
{
geometry_msgs::msg::PoseStamped msg = req.pose_stamped_vector[k];
if (performTransform(msg, default_frame))
bool frame_found = false;
const Eigen::Isometry3d& transform = rs.getFrameTransform(msg.header.frame_id, &frame_found);
if (frame_found)
{
tf2::fromMsg(msg.pose, req_poses[k]);
req_poses[k] = transform * req_poses[k];
}
else
{
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