relaxed IK into moveit

[UthiraS]

Hello,

I am trying to include relaxed IK into my move-it planner for ROS1 Noetic. I followed the instructions for setting up for Franka emika panda robot. I can see IK solvers like TrackIK have a plugin. Is it anything additional I need to do in order to include in a moveit ?

[SammyRamone]

A version for MoveIt2 can be found here https://github.com/timonegk/relaxed_ik_cpp