Hi, <br>I started to move our code for our robot kinematics to ROS.<br>I would like to know what is the stabilization status of kinematics stack, because latst review happend nearly year ago.   <br>I have some remarks and suggestions about kinematics stack : <br>

- kinematics serwices use motion_planning_msgs/RobotState which contains alot of unnecessary data.<br>- SolverInfo contains limits field which duplicate data avalible through robot_description.<br>- pr2_kinematics contains many useful functions in pr2_arm_kinematics_utils.cpp this could be moved to common package, maybe kinematics_utils.<br>

<br>- common node for ik and ik_with_constraints should exist, using kinematics plugins.<br>This would simplify implementation of kinematics for new robot.<br><br clear="all">Pozdrawiam<br>Konrad Banachowicz<br>