ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
1 | initial version |
Not really a fix, but orientations became accurate when a tool was included in the kinematic chain.
From what I can recall about the problem, it would seem that the joint position of the last joint didn't matter as the end-point was located in the center of that joint. However, from what I can understand, it should matter. Seemingly it did for FK but not IK. This problem no longer occurred when I added a tool to the kinematic chain.