| fix(moveit): refactor moveit_gateway for shared 5-DOF IK strategy
Extract _move_with_strategies helper to deduplicate the IK planning
logic used by both MoveToPose and MoveRelativeEE service handlers.
Applies a consistent 3-attempt cascade (relaxed → strict → fallback)
for 5-DOF arm planning across all motion entry points.
Co-authored-by: Copilot <223556219+Copilot@users.noreply.github.com>
Signed-off-by: liuweihong <liuweihong8@huawei.com>
| 22 天前 |
