Implement Arm Inverse Kinematics #71
Description
Context
The arm should use inverse kinematics in order to simplify the utilization of the arm from the operator's point of view. The end effector will be the gripper. Use whatever means you want to integrate IK into the arm. Make sure that your code continues to support different arm control styles. You will need interact with the mission control to map the pub/sub/services to match the controller input.
How it works now
Unimplemented.
What to do
Google IK in ROS2, IK in Python, and urdf files.
Resources
This was done once before, but not tested, on the old "Capstone Arm". Checkout the code to see if you can find something: arm.py