README.md

Compute IK solutions using RosDyn

Description

This package computes all the IK solutions for a TF using RosDyn. No collision checking are provided

Services are described here.

Usage

run the node rosdyn_ik providing the following parameter

required (local) params

base_frame: world # base frame of the chain
flange_frame: tool0 # end frame of the chain
tool_frame: open_tip # destination frame of the IK (it should be rigid attached to flange_frame)
desired_solutions: 32 # number of desired solution

joint_names: [jnt1, jnt2, ...]  #[optional] desired joints order

Example in this launcher