Add ROS service for arm inverse/forward kinematic

jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)

https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki

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Add ROS service for arm inverse/forward kinematic #103

Closed adeguet1 closed 1 year ago

adeguet1 commented 6 years ago

The current code uses the cisstRobot robManipulator class with some extra tweaks (add base frame, tool tip, modulus 2 pi for roll, constraint optimizer for snake like tools...) which makes it hard to reproduce in a separate program. It would be nice to provide:

ROS service to query the forward/inverse kinematic
A simple command line tool using the arm class without starting the whole console to query the forward/inverse kinematic

adeguet1 commented 3 years ago

FK queries have been added in 0e139ccb90dba6b669def6eaf260cb75ea22b48e

adeguet1 commented 1 year ago

Added in CRTK utils and dVRK arm classes for both ROS 1 and 2