moveit_msgs/GetPositionFK Service

File: moveit_msgs/GetPositionFK.srv

Raw Message Definition

# A service definition for a standard forward kinematics service
# The frame_id in the header message is the frame in which 
# the forward kinematics poses will be returned
Header header

# A vector of link name for which forward kinematics must be computed
string[] fk_link_names

# A robot state consisting of joint names and joint positions to be used for forward kinematics
RobotState robot_state
---
# The resultant vector of PoseStamped messages that contains the (stamped) poses of the requested links
geometry_msgs/PoseStamped[] pose_stamped

# The list of link names corresponding to the poses
string[] fk_link_names

MoveItErrorCodes error_code

Compact Message Definition

std_msgs/Header header
string[] fk_link_names
moveit_msgs/RobotState robot_state

geometry_msgs/PoseStamped[] pose_stamped
string[] fk_link_names
moveit_msgs/MoveItErrorCodes error_code