March 2018
Intermediate to advanced
1396 pages
42h 14m
English
book
ROS Programming: Building Powerful Robots
by Anil Mahtani, Luis Sanchez, Enrique Fernandez, Aaron Martinez, Lentin Joseph
Content preview from ROS Programming: Building Powerful Robots
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Kinematics
Forward kinematics and its Jacobians are integrated in the RobotState class. On the other hand, for inverse kinematics, MoveIt! provides a default plugin that uses a numerical Jacobian-based solver that is automatically configured by the Setup Assistant. As with other components of MoveIt!, users can write their own inverse kinematics plugins, such as IKFast.