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urdf_tools: arm_kinematics | joint_state_publisher | simmechanics_to_urdf | simmechanics_tutorial | urdf_python | urdf_tutorial

Package Summary

Documented

A generic package for computing both forward and backward kinematics for arms. Developed as an alternative to pr2_arm_kinematics for people not using the PR2.

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Overview

This package is intended to be a generic version of pr2_kinematics. The main purpose is to do solid arm kinematics for ANY robot.

arm_kinematics

Forward and backward kinematics for a solid arm

Services

~get_ik (kinematics_msgs/GetPositionIK)
  • Get the inverse kinematics
~get_ik_solver_info (kinematics_msgs/GetKinematicSolverInfo)
  • Get the inverse kinematics solver info
~get_fk (kinematics_msgs/GetPositionFK)
  • Get the forward kinematics
~get_fk_solver_info (kinematics_msgs/GetKinematicSolverInfo)
  • Get the forward kinematics solver info

Parameters

urdf_xml (String, default: robot_description)
  • Parameter name for where the URDF xml is located.
[robot_description] (String)
  • Contents of the URDF xml
root_name (String)
  • URDF Link name specifying the first element of the kinematic chain
tip_name (String)
  • URDF Link name specifying the last element of the kinematic chain
maxIterations (Integer, default: 1000)
  • Maximum number of iterations to use when calculating inverse kinematics
epsilon (Float, default: 1e-2)
  • Epsilon used in inverse kinematics calculations

Wiki: arm_kinematics (last edited 2010-08-26 03:07:47 by DavidLu)