2011/1/16 Herman Bruyninckx <span dir="ltr">&lt;<a href="mailto:Herman.Bruyninckx@mech.kuleuven.be">Herman.Bruyninckx@mech.kuleuven.be</a>&gt;</span><br><div class="gmail_quote"><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

<div class="im">On Sun, 16 Jan 2011, Konrad Banachowicz wrote:<br>
<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
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,<br>
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<br>
unnecessary data.<br>
- SolverInfo contains limits field which duplicate data avalible through<br>
robot_description.<br>
</blockquote>
<br></div>
You might want to configure a solver with tighter limits than what the<br>
robot&#39;s mechanics impose...</blockquote><div>ok but those data are read-only by getSolverInfo service.<br>Currently every implementation simply send data readed from robot_description. <br></div><blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">

<div><div></div><div class="h5"><br>
<br>
<blockquote class="gmail_quote" style="margin: 0pt 0pt 0pt 0.8ex; border-left: 1px solid rgb(204, 204, 204); padding-left: 1ex;">
- pr2_kinematics contains many useful functions in pr2_arm_kinematics_utils.cpp<br>
this could be moved to common package, maybe kinematics_utils.<br>
<br>
- common node for ik and ik_with_constraints should exist, using kinematics<br>
plugins.<br>
This would simplify implementation of kinematics for new robot.<br>
</blockquote>
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Herman</font><br>_______________________________________________<br>
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