ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
I actually found a good solution to this in the code for pr2_teleop_general. The basic idea is to:
RobotCommander.get_current_state()
GetPositionFK
service of your move_group
to get the the end effector position using this state as input.GetPositionIK
service of your move_group
to get an inverse kinematics solution for this.