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Hi,

I've also been wanting to do this on our end but haven't gotten around to it yet. If indeed you can get a C++ function for the ik then it should be pretty straightforward to implement the necessary functions for a kinematics plugin. There's some info on making a kinematics plugin the wiki that may not be totally complete: http://www.ros.org/wiki/kinematics_base - you basically just need to implement a bunch of virtual function and make the plugin. You can use the generic arm navigation package in arm_kinematics_constraint_aware/src/kdl_arm_kinematics_plugin.cpp as a starting point.

I will probably get around to getting some more materials on this in the coming months, but if you have any luck a tutorial on the wiki would be a great help! Especially helpful would be information on the OpenRave side, as I don't have much experience with that.

-Gil