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pr2_kinematics: pr2_arm_kinematics

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

pr2_kinematics: pr2_arm_kinematics

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

  • Maintainer status: maintained
  • Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
  • Author: Sachin Chitta
  • License: BSD
pr2_kinematics: pr2_arm_kinematics

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Sachin Chitta
  • License: BSD
  • Source: git https://github.com/pr2/pr2_kinematics.git (branch: kinetic-devel)
pr2_kinematics: pr2_arm_kinematics

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Sachin Chitta
  • License: BSD
  • Source: git https://github.com/pr2/pr2_kinematics.git (branch: kinetic-devel)
pr2_kinematics: pr2_arm_kinematics

Package Summary

This package provides a kinematics implementation for the PR2 robot. It can be used to compute forward and inverse kinematics.

  • Maintainer status: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Sachin Chitta
  • License: BSD
  • Source: git https://github.com/pr2/pr2_kinematics.git (branch: kinetic-devel)

Overview

The pr2_arm_kinematics package is a PR2 specific package that provides IK solutions for the PR2 robot arms. The recommended interface is through ROS. The node provides multiple interfaces (listed in the ROS API below) and can be used to compute the closest IK solution to an initial guess. More information on using this package can be found in the API documentation. Example code for using this package can be found in the pr2_kinematics tutorials.

ROS API

API Stability

Services Offered

pr2_arm_kinematics provides services for IK computation. It can be configured using ROS parameters. The ROS API is explained in greater detail below. To get a collision free version of this node, check out the pr2_arm_kinematics_constraint_aware package.

Services

node_namespace/get_ik (kinematics_msgs/GetPositionIK) node_namespace/get_fk (kinematics_msgs/GetPositionFK) node_namespace/get_ik_solver_info (kinematics_msgs/GetKinematicSolverInfo) node_namespace/get_fk_solver_info (kinematics_msgs/GetKinematicSolverInfo)

ROS Parameter Configuration

Parameters

~free_angle (int, default: 2) ~search_discretization (double, default: 0.01) ~root_name (string, default: torso_lift_link) ~tip_name (string, default: r_wrist_roll_link)

Tutorials

Tutorials for this package can be found in the pr2_kinematics stack tutorials.


2019-11-09 13:03