Hi everybody,

I am currently (still) in the process of porting the arm_navigation
stack to a Katana arm. I already have a replacement for almost
everything in the pr2_3dnav/right_arm_navigation.launch file (mostly a
big copy-and-paste orgy, followed by s/pr2/katana/g).

At the moment, I use the generic arm_kinematics package from urdf_tools
to provide the get_ik and get_fk services, since this seems to be the
simplest package to set up. Maybe later I'm going to switch to
OpenRave's ikfast module.

However, move_arm expects a get_constraint_aware_ik service. Is there
an easy way to get that going?

Cheers,
Martin

-- 
Dipl.-Inf. Martin Günther
Universität Osnabrück
Institut für Informatik
Albrechtstr. 28  (Raum 31/503)
D-49076 Osnabrück

Fon: 0541 969 2434
http://www.inf.uos.de/mguenthe/