Getting the opposite query goal state using the moveit ikfast plugin

[Andres Torres Garcia]

Hi,

I'm getting the opposite query pose using the moveit ikfast plugin. The situation is described in the following image:

The problem is that the pose of the robot is in the opposite direction where it should be. I believe that the solution is toggling the joint angles every time it calculates the IK for the query goal state. I have no clue in what I did wrong in the process of creating the ikfast library and the moveit ikfast plugin. Where I have doubts is in assigning the index for the baselink and for the eelink. I assigned --baselink=1 --eelink=9. Is that ok?

name      index parents  

-------------------------

world     0              

base_link 1     world    

link_0    2     base_link

link_1    3     link_0   

link_2    4     link_1   

link_3    5     link_2   

link_4    6     link_3   

link_5    7     link_4   

link_6    8     link_5   

link_7    9     link_6

Best,

[Andres Torres Garcia]

I forgot to say that using the KDL kinematics plugin is working correctly.