Inverse Kinematics Service update

RethinkRobotics / sawyer_simulator

Gazebo Simulation interface for the Sawyer Robot

Apache License 2.0

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Closed IanTheEngineer closed 7 years ago

IanTheEngineer commented 7 years ago

This update adds the SNS IK solver as the backbone of the IK service inside the Kinematics class. Updates include:

Added sns_ik_lib as a dependency
Acceleration Limits to be added to the parameter server
Distinguishes between the endpoint tips and gravity compensation tips (to properly account for gravity)
Adds the servicePositionIK ROS Service