This package contains launch files for two implementations of kinematics for the PR2 robot arms:

  • pr2_ik_rarm_node.launch and pr2_ik_larm_node.launch contain launch configuration for the pr2_kinematics node from the pr2_arm_kinematics package. This node provides both forward and inverse kinematics services.

  • right_arm_collision_free_ik.launch and left_arm_collision_free_ik.launch provide an implementation of collision free inverse kinematics from the constraint aware kinematics package.

API Stability

  1. ROS API is REVIEWED but UNSTABLE - We will make our best effort to keep the ROS API stable.

Wiki: pr2_arm_navigation_kinematics (last edited 2010-03-15 23:58:27 by SachinChitta)