Skip to content

Support all groups in srv_kinematics_plugin #3702

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
stephanie-eng wants to merge 2 commits into
base: main
Choose a base branch
from
Open

Support all groups in srv_kinematics_plugin #3702

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
5d89850
Support all groups in srv_kinematics_plugin
stephanie-eng Mar 13, 2026
127c0de
Merge branch 'main' into seng/support-group-srv-ik
stephanie-eng Mar 25, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions ...tics/srv_kinematics_plugin/include/moveit/srv_kinematics_plugin/srv_kinematics_plugin.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -127,6 +127,8 @@ class SrvKinematicsPlugin : public kinematics::KinematicsBase
*/
const std::vector<std::string>& getVariableNames() const;

bool supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out = nullptr) const override;

protected:
bool setRedundantJoints(const std::vector<unsigned int>& redundant_joint_indices) override;

Expand Down
13 changes: 13 additions & 0 deletions moveit_kinematics/srv_kinematics_plugin/src/srv_kinematics_plugin.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -422,4 +422,17 @@ const std::vector<std::string>& SrvKinematicsPlugin::getVariableNames() const
return joint_model_group_->getVariableNames();
}

bool SrvKinematicsPlugin::supportsGroup(const moveit::core::JointModelGroup* jmg, std::string* error_text_out) const
{
if (!jmg)
{
if (error_text_out)
{
*error_text_out = "No joint model group provided";
}
return false;
}
return true;
}

} // namespace srv_kinematics_plugin
Loading