<> <> This package provides a generic implementation of constraint aware kinematics for any serial manipulator. It is based on a combination of the ROS collision checking tools with KDL forward and inverse kinematics solvers. This package exposes this functionality in three ways: 1. C++ class: A C++ interface through a class that inherits from the base class provided in the [[kinematics_base]] package. 1. ROS plugin interface: This interface allows other programs to configure and use this implementation of kinematics at runtime. The configuration is done through yaml and is described in more detail in the [[arm_kinematics_constraint_aware/Tutorials|tutorials]] for setting up a node. 1. A ROS node: This node has the same ROS API as the node provided by the [[pr2_arm_kinematics_constraint_aware]] package. It can use the plugin from this package or a custom plugin created for a specific robot. == Configuration for your own arm == Follow the [[arm_kinematics_constraint_aware/Tutorials|tutorials]] for configuring this node for your own arm. ## AUTOGENERATED DON'T DELETE ## CategoryPackage