Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Kinematics queries #2

Open
adeguet1 opened this issue Sep 6, 2023 · 0 comments
Open

Kinematics queries #2

adeguet1 opened this issue Sep 6, 2023 · 0 comments
Assignees
@adeguet1
Labels
enhancement

Comments

@adeguet1
Copy link
Contributor

adeguet1 commented Sep 6, 2023

I propose to add two new commands to CRTK. Both would be implemented as services on ROS:

  • forward_kinematics
  • inverse_kinematics

Proposed new ROS srv can be found in https://github.com/collaborative-robotics/crtk_msgs/tree/devel/srv:

  • QueryForwardKinematics.srv: contains jp as input for forward kinematics and cp to help select one of multiple solutions (e.g. for parallel robots).
  • QueryInverseKinematics.srv: contains cp as input for inverse kinematics and jp to help select one of multiple solutions.

Both replies contain a bool result and string message for a human readable message if the query failed.
@adeguet1 adeguet1 self-assigned this Sep 6, 2023
Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees

@adeguet1 adeguet1

Labels
enhancement
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
1 participant
@adeguet1