[ros-users] kinematics stack status ?

[Konrad Banachowicz]

2011/1/16 Herman Bruyninckx <Herman.Bruyninckx at mech.kuleuven.be>

> 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...

ok but those data are read-only by getSolverInfo service.
Currently every implementation simply send data readed from
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.
>>
>
> Herman
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