tree_kinematics/get_tree_position_ik Service

File: tree_kinematics/get_tree_position_ik.srv

Raw Message Definition

# A service call to carry out an inverse kinematics computation for tree structured kinematics
# It consists of a kinematics_msgs/PositionIKRequest fpr every specified endpoint

# The inverse kinematics request
kinematics_msgs/PositionIKRequest[] pos_ik_request

---

# The returned solution 
# (in the same order as the list of joints specified in the IKRequest message)
arm_navigation_msgs/RobotState solution

arm_navigation_msgs/ArmNavigationErrorCodes error_code

Compact Message Definition