fk_service_client.py 文件源码

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

    A simple example of using the Rethink Forward Kinematics
    Service which returns the Cartesian Pose based on the input joint angles.

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

    if fk_service_client():
        rospy.loginfo("Simple FK call passed!")
    else:
        rospy.logerr("Simple FK call FAILED")