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CMake 6.30% C++ 46.06% Python 47.64%

bio_ik_service's Introduction

ROS service for calling BioIK from Python or Java

ROS message definitions for BioIK goal types
BioIK service node
New /bio_ik/get_bio_ik service with full support for new BioIK goal types
Legacy /bio_ik/get_position_ik interface for compatibility

Running the examples

Clone https://github.com/TAMS-Group/bio_ik, https://github.com/TAMS-Group/bioik_pr2, and this repository
Launch the PR2+BioIK demo config: roslaunch pr2_moveit_bio_ik demo.launch
Launch one of the demo scripts, e.g.: rosrun bio_ik_service_examples get_bio_ik.py

See ./bio_ik_service_examples/scripts for more information on how to use the BioIK service...

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