<html><head></head><body style="word-wrap: break-word; -webkit-nbsp-mode: space; -webkit-line-break: after-white-space; ">Awesome, I'm looking forward to it! Please let me know when I can help test and demo your work, and do keep in touch :)<div><br><div><div>On Mar 9, 2011, at 12:33 AM, Marcus Liebhardt wrote:</div><br class="Apple-interchange-newline"><blockquote type="cite"><span style="color: rgb(0, 0, 0);">Dear ROS community,</span><br style="color: rgb(0, 0, 0);">
<br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">First of all, I want to thank all developers and contributors very
much for all your efforts you put into the ROS project! Two months ago, I
started to work with ROS and it was a
pleasure to learn it. The wiki, the tutorials and the information
provided by the mailing lists allowed me to progress very fast.</span><br style="color: rgb(0, 0, 0);">
<br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">I just submitted an enhancement patch (</span><a href="https://code.ros.org/trac/wg-ros-pkg/ticket/5063" target="_blank">#5063</a>) for the pr2_mechanism_model
package, which adds a new helper class for trees. This class is
derived from and structured like the one for chains written by Stuart
Glaser and Wim Meeussen. I hope, it is a useful contribution. Please let me know, if you
like me to apply changes!<br style="color: rgb(0, 0, 0);"><br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">To give you an idea,
where my motivation comes from and in which context that helper class
fits, I would like to give you a short introduction to my work. My
intent is also to get into contact with
developers, who work on the same or related fields. I would be happy to
share ideas, problems and hopefully solutions as well! :-)
</span><br style="color: rgb(0, 0, 0);"><br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">I
am doing my master thesis on unilateral teleoperation here at PAL
Robotics . More specific, I will focus on creating a controller to
move the upper body of an humanoid robot. We use Microsoft's Kinect as
the
input device for the operator's commands.</span><br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">
Similar projects have already been published in the ROS 3D Contest, like Halit Bener SUAY's</span><font size="2"><span style="color: rgb(0, 0, 0);"> "</span><a href="http://www.ros.org/wiki/openni/Contests/ROS%203D/Humanoid%20Robot%20Control%20and%20Interaction" target="_blank">Humanoid Robot Control and Interaction</a><span style="color: rgb(0, 0, 0);">"</span></font><span style="color: rgb(0, 0, 0);"> and the various contributions of Taylor Veltrop about "</span><a href="http://www.ros.org/wiki/openni/Contests/ROS%203D/Humanoid%20Teleoperation" target="_blank">Humanoid teleoperation</a><span style="color: rgb(0, 0, 0);">".</span><br style="color: rgb(0, 0, 0);">
<span style="color: rgb(0, 0, 0);">
Among the key problems, which I will address in the next four months,
are adjustment to different users, joint limit avoidance and optimal
configuration(s) concerning expressiveness and precision.</span><br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">To
implement this controller I am working with ROS and KDL. For the
above mentioned challenges there is still work to do with the utilised
inverse kinematics solvers. Therefore I am also in contact with
KDL developers (see related discussions on the </span><a href="http://www.orocos.org/forum/orocos/orocos-users/trees-kinematic-solvers-and-inverse-kinematics-controllers" target="_blank">KDL-users</a><span style="color: rgb(0, 0, 0);"> and </span><a href="http://www.orocos.org/forum/rtt/rtt-dev/kdl-backend-underconstrained-motion-specification" target="_blank">KDL-developers</a><span style="color: rgb(0, 0, 0);"> mailing list).</span><br style="color: rgb(0, 0, 0);">
<br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">So,
thanks for taking the time to read this long email and please let me
know, if you have any questions and/or you would like me to provide more
information about the project. I am looking forward to pool development efforts!</span><br style="color: rgb(0, 0, 0);">
<br style="color: rgb(0, 0, 0);"><br style="color: rgb(0, 0, 0);"><span style="color: rgb(0, 0, 0);">With best wishes from Barcelona,</span><br style="color: rgb(0, 0, 0);"><font style="color: rgb(0, 0, 0);" color="#888888"><br>
Marcus Liebhardt<br><br></font>
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