Inverse kinematic for getting Jointstates
Hi all, I need some help because I have realised that I am really ignorant about ROS and C++. After trying to control UR5 with arm_navigation( we have to work with fuerte), we decided to create a new package to control it. So, we got move the robot to a specific point. On this way, I can obtain the position of the end-effector.
Now, I have to mimic the real robot in Rviz. So, I think that I would need to get the jointstates messages in order that robot_state_publisher does its work. As i understand it, a way to get this aim, could be to implement a Inverse Kinematic node which publish the joint_states topic that I need ,function of the known specific point. I have looked for KDL and IK solvers but I cant solve my doubts.
Do you think this way is correct? Could you help me about a valid Inverse Kinematic node?
Thanks all, Deulogio
