Baxter逆运动学求解ik_request

输入末端姿态，手臂 “left”或“right”，即可求出每个关节所对应的角度

from baxter_core_msgs.srv import (
    SolvePositionIK,
    SolvePositionIKRequest,
)
from std_msgs.msg import Header
def ik_request(self,pose,limb,verbose=True):
        self._verbose = verbose
        ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
        self._iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
        rospy.wait_for_service(ns, 5.0)
        hdr = Header(stamp=rospy.Time.now(), frame_id='base'