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I have tried the arm_kinematics package but after a while it wasn't enough for my application.

However I can recommend you the arm_navigation stack and specifically the Planning Description Configuration Wizard.

For the atlas_sandia_hands it is:

$ roslaunch planning_environment planning_description_configuration_wizard.launch urdf_package:=atlas_sandia_hands urdf_path:=atlas_sandia_hands.urdf

I think this tutorial will be a good starting point for you.

After that, you may want to continue with the rest of the arm_navigation tutorials.

You may think that this alternative is complex if you only want the inverse kinematics but I think it is worth the shot.

Hope this help