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initial version

http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html folllow the tutorial and run the code

it will return the dh values and jocobian values

http://docs.ros.org/kinetic/api/moveit_tutorials/html/doc/robot_model_and_robot_state/robot_model_and_robot_state_tutorial.html folllow the tutorial and run the code

Change the panda_arm to your group name and panda_link8 to your last link it will return the dh values and jocobian values