TracIK Implementation for kinematics_interface

[jcarpinelli-bdai]

The ros2_control project has a kinematics_interface that is defined by four methods: calculate_jacobian, calculate_link_transform, convert_joint_deltas_to_cartesian_deltas, and convert_cartesian_deltas_to_joint_deltas. They also provide an implementation using KDL. Forking this KDL plugin, and modifying it to use TracIK instead, should be relatively straightforward! I may be able to help with this, if it is a desired feature.

[aprotyas]

Hi @jcarpinelli-bdai! Thanks for the ping. I've been reviewing some ros2_control PRs as time allows so this would be a nice personal exercise, sadly because of my day job I can't promise when I could land an implementation.

To be clear, it is a desired feature, and if you have an imminent need then please feel free to do the typing. Otherwise, I will get to it.. eventually! Just keep me posted 🙇