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Add bio_ik2_example package #4

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SimonGiampy opened this issue Oct 14, 2024 · 0 comments

SimonGiampy commented Oct 14, 2024

It would be useful to have an example package showing how to compute the IK in a C++ ROS2 script. The example can show several functionalities

compute IK with seed state = current robot pose (initial guess for the solver)
compute IK with a custom defined seed state (initial guess for the solver)
compute IK with BioIKKinematicsOptions and custom goal cost functions
compute IK using the MoveIt2 RobotState class pre-defined functions

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