Open adeguet1 opened 1 year ago
I propose to add two new commands to CRTK. Both would be implemented as services on ROS:
forward_kinematics
inverse_kinematics
Proposed new ROS srv can be found in https://github.com/collaborative-robotics/crtk_msgs/tree/devel/srv:
srv
jp
cp
Both replies contain a bool result and string message for a human readable message if the query failed.
bool result
string message
I propose to add two new commands to CRTK. Both would be implemented as services on ROS:
forward_kinematicsinverse_kinematicsProposed new ROS
srvcan be found in https://github.com/collaborative-robotics/crtk_msgs/tree/devel/srv:jpas input for forward kinematics andcpto help select one of multiple solutions (e.g. for parallel robots).cpas input for inverse kinematics andjpto help select one of multiple solutions.Both replies contain a
bool resultandstring messagefor a human readable message if the query failed.