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What you are looking for is an IK solver, which converts your Cartesian coordinates into joint angles. The NaoQI API (check the SDK documentation) has methods for IK control, so that the Nao directly executes the command but it's not very precise in some situations. It's not wrapped in the nao_driver, so you will have to add it yourself and make it available through a ROS service.
You could also do IK computations yourself in ROS using KDL, IKfast, or MoveIt (which includes the former two). You will then have to feed the results into the nao_controller node, probably with some lightweight conversion of messages.
| | 2 | No.2 Revision |
What you are looking for is an IK solver, which converts your Cartesian coordinates into joint angles. The NaoQI API (check the SDK documentation) has methods for IK control, so that the Nao directly executes the command but it's not very precise in some situations. It's not wrapped in the nao_driver, so you will have to add it yourself and make it available through a ROS service.
You could also do IK computations yourself in ROS using KDL, IKfast, or MoveIt (which includes the former two). You will then have to feed the results into the nao_controller node, probably with some lightweight conversion of messages.
Edit: I just realized you're using fuerte. Then (I think) you only have the arm_navigation stack in ROS as choice besides a custom IKfast implementation, but it's deprecated in the current distros and won't be maintained anymore (afaik).
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