add InverseKinematics.srv

2026-01-28 13:42:46 +08:00
parent 8ae45a5818
commit 44327477d8
2 changed files with 6 additions and 0 deletions
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -58,6 +58,7 @@ set(srv_files
  srv/GripperCmd.srv
  srv/MotorInfo.srv
  srv/ClearArmError.srv
+  srv/InverseKinematics.srv
 )

 include_directories(include)
--- a/src/srv/InverseKinematics.srv
+++ b/src/srv/InverseKinematics.srv
@@ -0,0 +1,5 @@
+int32 arm_id                    #0-左臂，1-右臂
+geometry_msgs/Pose pose         #目标位姿
+---
+int32 result                    #结果：0-成功，非0-失败
+float32[] joint_angles          #解算出来的关节角