ik_service_client.py 文件源码

def main():
    """RSDK Inverse Kinematics Example

    A simple example of using the Rethink Inverse Kinematics
    Service which returns the joint angles and validity for
    a requested Cartesian Pose.

    Run this example, the example will use the default limb
    and call the Service with a sample Cartesian
    Pose, pre-defined in the example code, printing the
    response of whether a valid joint solution was found,
    and if so, the corresponding joint angles.
    """
    rospy.init_node("rsdk_ik_service_client")

    if ik_service_client():
        rospy.loginfo("Simple IK call passed!")
    else:
        rospy.logerr("Simple IK call FAILED")

    if ik_service_client(use_advanced_options=True):
        rospy.loginfo("Advanced IK call passed!")
    else:
        rospy.logerr("Advanced IK call FAILED")