Fix Robot Crazy Movement in ROS2 | KDL vs Trac_IK Explained
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YouTubeKonu Droid
Fix Robot Crazy Movement in ROS2 | KDL vs Trac_IK Explained
My robot kept spinning out during pick and place — I blamed MoveIt2, tried every path planner… turns out it was the IK solver the whole time. 🤦 KDL was treating 0° and 360° as the same (mathematically correct, physically catastrophic). Switching to Trac_IK fixed it instantly. If your robot is going haywire on joint limits — try this ...
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