A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand. More...
#include <ros/ros.h>#include <kdl_parser/kdl_parser.hpp>#include <boost/smart_ptr.hpp>#include <boost/thread.hpp>#include <tf/transform_listener.h>#include <tf_conversions/tf_kdl.h>#include <sensor_msgs/JointState.h>#include <geometry_msgs/PoseStamped.h>#include "kinematics_msgs/GetPositionIK.h"#include "kinematics_msgs/PositionIKRequest.h"#include "motion_planning_msgs/RobotState.h"
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Classes | |
| class | shadowrobot::SrKinematics |
Namespaces | |
| namespace | shadowrobot |
Detailed Description
A ROS node used to subscribe to the tf topic on which the reverse kinematics targets are published. Those targets are then transformed into a pose and sent to the arm_kinematics node which tries to compute the reverse kinematics. On success, the computed targets are then sent to the arm and to the hand.
- Date:
- Thu Jul 15 12:15:30 2010
Definition in file sr_kinematics.h.