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hi ! i have to control arm robot using ROS and solve the forward kinematics and inverse kinematics . how can i solve the forward kinematics and get the cartesian positions for the links on a arm using ROS Jade ? how can i connect arm robot to my ROS program and read positions from the links on a arm using sensors ? what is the best solution for forward kinematics and inverse kinematics in ROS ? please help me


Originally posted by hosein_hyper on ROS Answers with karma: 11 on 2016-09-06

Post score: 0

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The easiest option is to create a URDF model for your robot and publish joint_state data to a robot_state_publisher (tutorial). This will generate tf transform data for all frames, which is the same as forward kinematics. This is really meant for representing the current robot state however.

A very convenient option is generating a MoveIt! config for the robot. The kinematics capabilities can then be used programmatically as described in the kinematics tutorial.

There are also other options like using KDL, but I believe MoveIt! is probably the easiest to use.


Originally posted by Stefan Kohlbrecher with karma: 24361 on 2016-09-06

This answer was ACCEPTED on the original site

Post score: 3

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