IK action's error messages aren't helpful (ros ticket #4911)

[ahendrix]

I'm trying to send an IK goal using the IK action, and I get this on rosout:

{{{
/r_arm_ik_action: Aborted: IK invalid
}}}

What should I change about my goal? The goal looks like this:

{{{
pose:
header:
seq: 0
stamp:
secs: 1290474914
nsecs: 120568037
frame_id: torso_lift_link
pose:
position:
x: 0.6
y: 0.6
z: 0.1
orientation:
x: 0
y: 0
z: 0
w: 1
tool_frame:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
pose:
position:
x: 0.0
y: 0.0
z: 0.0
orientation:
x: 0.0
y: 0.0
z: 0.0
w: 0.0
ik_seed:
header:
seq: 0
stamp:
secs: 0
nsecs: 0
frame_id: ''
name: ['r_shoulder_pan_joint', 'r_shoulder_lift_joint', 'r_upper_arm_roll_joint', 'r_elbow_flex_joint', 'r_forearm_roll_joint', 'r_wrist_flex_joint', 'r_wrist_roll_joint']
position: [-1.1200000000000001, -0.0, -1.5707963267948966, -2.0, 3.96, -0.66000000000000003, 13.32]
velocity: []
effort: []
ik_timeout:
secs: 0
nsecs: 0
move_duration:
secs: 3
nsecs: 0
}}}

trac data:

• Owner: wim
• Reporter: sglaser
• Reported at: Mon Nov 22 17:15:39 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4911