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API review

Proposer: Sachin Chitta

Present at review:

Question / concerns / comments

# A service call to carry out an inverse kinematics computation 
# while checking collisions. 

# The inverse kinematics request
kinematics_msgs/IKRequest data

# The state of the robot - use this to specify positions for the rest of the joints on the robot
motion_planning_msgs/RobotState robot_state

# A set of ordered collision operations to determine the resultant collision matrix to use
motion_planning_msgs/OrderedCollisionOperations ordered_collision_operations

# Maximum allowed time for IK calculation
float64 timeout


# The returned solution 
# (in the same order as the list of joints specified in the IKRequest message)
float64[] solution


Random thoughts - my apologies if they are confused or mis-informed:

In general, it seems these are basically service requests for a pretty specialized code base = one service call for one algorithm? I'm a little worried that for general solvers, there may be other parameters (cost functions, tolerances, etc). So is it worth making this a package by itself, or just keep the service definitions with the code? And then, when we have multiple solvers and service calls we can see where the commonality lies?



Meeting agenda


Package status change mark change manifest)

2022-11-26 12:45