Hi,
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.
- 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.
Pozdrawiam
Konrad Banachowicz
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