This adds the ModelFkSrv service; after you have imported a URDF file into a HEBI robot model object using the AddModelFromURDF service, the following named service is available:
"/hebiros/"+model_name+"/fk
This can be used to retrieve the 4x4 transforms for the forward kinematics for each coordinate frame in the system
This adds the
ModelFkSrvservice; after you have imported a URDF file into a HEBI robot model object using theAddModelFromURDFservice, the following named service is available:"/hebiros/"+model_name+"/fk
This can be used to retrieve the 4x4 transforms for the forward kinematics for each coordinate frame in the system