The forward kinematics solver does solve for the link positions. If you take a look at the service definition,
I thought it was for the Link, and will check for sure when I get back to my office tomorrow or Monday.
-David!!On Sat, Dec 4, 2010 at 8:12 AM, Patrick Goebel <patrick@casbs.stanford.edu> wrote:
OK, I think I have answered my own question and sorry for making a mess
of the original question. The question should have simply been: does
the *forward* kinematics solver map joint positions to poses of the
joints or the links? Since the origins of joints and links need not
coincide, I thought it could be one or the other.
Further experimentation seems to prove that the poses computed by get_fk
are for the joints, not the links, although both the documentation and
the output from get_fk use the word "Link" to label the computed poses.
Do I have this correct?
Thanks!
patrick
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