On Sun, 16 Jan 2011, Konrad Banachowicz wrote:

> I started to move our code for our robot kinematics to ROS.
> I would like to know what is the stabilization status of kinematics stack,
> because latst review happend nearly year ago.  
> I have some remarks and suggestions about kinematics stack :
> - kinematics serwices use motion_planning_msgs/RobotState which contains alot of
> unnecessary data.
> - SolverInfo contains limits field which duplicate data avalible through
> robot_description.

You might want to configure a solver with tighter limits than what the
robot's mechanics impose...

> - pr2_kinematics contains many useful functions in pr2_arm_kinematics_utils.cpp
> this could be moved to common package, maybe kinematics_utils.
> 
> - common node for ik and ik_with_constraints should exist, using kinematics
> plugins.
> This would simplify implementation of kinematics for new robot.

Herman