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1 | initial version |
It computes the inverse kinematics for a planning group. as the name implies. You can use it to get the robot joint angles that put the end effector at a cartesian Pose.
You don't need to call the service yourself to do motion planning. The move_group
's move
, plan
and other commands use the IK in the background.
2 | No.2 Revision |
It computes the inverse kinematics for a planning group. as the name implies. You can use it to get the robot joint angles that put place the end effector at a cartesian Pose.Pose.*
You don't need to call the service yourself to do motion planning. The move_group
's move
, plan
and other commands use the IK in the background.
*There are generally multiple solutions, so you may not always get the same one.