See katana_driver.

get_fk / get_ik

clone fixed version of arm_navigation (in the official Fuerte version, the kinematics services don't work):

git clone -b fix_kinematics_services_fuerte
rosmake arm_navigation    # for this to work, the directory you just cloned needs to be on the ROS_PACKAGE_PATH *before* /opt/ros/fuerte/...

launch prerequisites:

roslaunch kurtana_gazebo kurtana_gazebo.launch
roslaunch kurtana_arm_navigation kurtana_arm_navigation.launch

run tests:

rosrun katana_manipulation_tutorials get_fk
rosrun katana_manipulation_tutorials get_ik

alternatively, run get_fk from the command line:

rosservice call /kurtana_arm_kinematics/get_fk '{header: {frame_id: "katana_base_link"}, fk_link_names: ["katana_motor5_wrist_roll_link"], robot_state: {joint_state: {name: ["katana_motor1_pan_joint", "katana_motor2_lift_joint", "katana_motor3_lift_joint", "katana_motor4_lift_joint", "katana_motor5_wrist_roll_joint"], position: [0.0, 0.0, 0.0, 0.0, 0.0]}} }'

Wiki: katana_manipulation_tutorials (last edited 2013-09-13 11:50:14 by MartinGuenther)