moveit/moveit_msgs

remove GetConstraintAwarePositionIK.srv

isucan opened this issue · 3 comments

It does not make sense to me to have two almost identical services. I have added a flag for collision checking and a Constraints message to the regular IK request (this costs just a few bytes (i believe 8 bytes) in the request) and an if statement in the implementation. It makes life easier for implementing things and also to call things.
The only code that uses that service is kinematics_constraint_aware

I got a bit confused finding this .srv. If it's actually not used anywhere it may not be necessary.

130s commented

Addressed for Kinetic in #35

Only took 3 years ⏳