[`trac_ik_kinematics_plugin`]: Add support for ROS 2

aprotyas / trac_ik

ROS 2 port of `trac_ik`, an alternative Inverse Kinematics solver to the popular inverse Jacobian methods in KDL.

BSD 3-Clause "New" or "Revised" License

41 stars 22 forks source link

Open aprotyas opened 2 years ago

aprotyas commented 2 years ago

From #1, the primitive directives are:

[ ] Write the plugin for moveit2.
[ ] Update moveit documentation about the trac_ik library and about writing said plugins.

aprotyas commented 2 years ago

I'm labeling this Help Wanted because I have zero experience with MoveIt!, but that's always a learning opportunity...

130s commented 1 year ago

Assuming this repo is a fork from there, why don't you open a PR to that repo? That may accelerate the work to port trac-ik to ros2.