Hi All,
I have got my hydraulic arm successfully able to be controlled from MoveIt! and IKFast as per the scenario in http://answers.ros.org/question/190808/using-moveit-to-control-the-end-of-a-hydraulic-arm-in-cartesian-coordinates/ , but I can't find the steps for creating a service where I issue a request consisting of Cartesian Coordinates as an input and getting joint angles as an output. There is some stuff about the [PR2 arm](http://wiki.ros.org/pr2_kinematics/Tutorials/Tutorial%204), but I can't work out how to adapt this for my arm.
Can anybody point me in the right direction?
Kind Regards
Bart
↧