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Only released in EOL distros:  


This package contains a node that can be used to perform forward and inverse kinematics computations for the PR2 robot arms. The node exposes functionality that automatically cycles through the entire redundancy of the 7 DOF arms and provides collision free inverse kinematics solutions.


API Stability

Services Offered

pr2_arm_kinematics_constraint_aware provides services for FK and IK computation and also services for computing collision free IK solutions. It can be configured using ROS parameters. The ROS API is explained in greater detail below. To get a generic (non-constraint aware) version of this node, check out the pr2_arm_kinematics package.


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) node_namespace/get_constraint_aware_ik (kinematics_msgs/GetConstraintAwarePositionIK)

ROS Parameter Configuration


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

Additional Configuration Details

Additional configuration details are available from the Configuration page.

2020-01-18 12:58