Universal Robots Forum

Finding chain for use with trac_ik


I am using a UR5e with the ROS driver and am currently attempting to calculate inverse kinematics to set the position of the TCP on my robot. I am making use of trac_ik_python to do this with little success. It looks like trac_ik is using /robot_description to get a chain, but it seems that /robot_description does not identify a chain of any sort. There is also the urdf_string parameter for IK which also does not seem to work for the UR5e as the URDF files within the ROS driver also do not specify a chain. Any guidance would be much appreciated!