| Note: This tutorial assumes that you have completed the previous tutorials: ROS tutorials, Gazebo Tutorials. |
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Getting started with kinematics for the PR2
Description: This tutorial will show you how to get started with computing position forward and inverse kinematics for the PR2.Tutorial Level: INTERMEDIATE
Next Tutorial: Getting kinematic tree info
Contents
The kinematics stack for the PR2 provides services that allow the computation of position forward and inverse kinematics for the arms of the PR2. It also provides services to compute collision free inverse kinematics for the PR2 robot in combination with the planning_environment stack. In the set of tutorials for this stack, we will explore all this functionality.
Kinematics messages and services
The kinematics stack uses information from the kinematics_msgs package. Make sure you read through the documentation for the messages and services there. In particular, note the following services:
kinematics_msgs/GetPositionFK - This is the basic service call to get position forward kinematics information from a position kinematics solver.
kinematics_msgs/GetPositionIK - This is the basic service call to get inverse kinematics solutions from a position kinematics solver.
kinematics_msgs/GetKinematicSolverInfo - This service will let you get information from the kinematics solver as to the set of joints it deals with and the set of links that it can solve kinematics for.
kinematics_msgs/GetConstraintAwarePositionIK - This is the service call to get collision free inverse kinematics solutions from a kinematics solver.
Now, go on to the next tutorial where you will learn to get information from a kinematics solver.
