Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials, Gazebo Tutorials.
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Getting started with kinematics for the PR2

Description: This tutorial will show you how to get started with computing position forward and inverse kinematics for the PR2.

Tutorial Level: INTERMEDIATE

Next Tutorial: Getting kinematic tree info

The kinematics stack for the PR2 provides services that allow the computation of position forward and inverse kinematics for the arms of the PR2. It also provides services to compute collision free inverse kinematics for the PR2 robot in combination with the planning_environment stack. In the set of tutorials for this stack, we will explore all this functionality.

Kinematics messages and services

The kinematics stack uses information from the kinematics_msgs package. Make sure you read through the documentation for the messages and services there. In particular, note the following services:

Now, go on to the next tutorial where you will learn to get information from a kinematics solver.

Wiki: pr2_kinematics/Tutorials/Tutorial 1 (last edited 2011-11-08 04:11:52 by EGilJones)