ros-planning/moveit_ros — pull request #344 by fl4v (2013-10-16 11:09:19+00:00)
Title: Manipulator_state_publisher and cartesian_teleoperation

- manipulator_state_publisher: it takes a robot state and outputs a ros message consisting in the Pose and the Twist of the end_effector. The Twist is computed using subsequent joint values.

- cartesian_teleoperation: it takes desired Pose and Twist, performs IK, and publishes it to the joint_path_command topic.