ROS service for calling BioIK from Python or Java

• ROS message definitions for BioIK goal types
• BioIK service node
• New /bio_ik/get_bio_ik service with full support for new BioIK goal types
• Legacy /bio_ik/get_position_ik interface for compatibility

Running the examples

• Clone https://github.com/TAMS-Group/bio_ik, https://github.com/TAMS-Group/bioik_pr2, and this repository
• Launch the PR2+BioIK demo config: roslaunch pr2_moveit_bio_ik demo.launch
• Launch bioik_service: rosrun bio_ik_service bio_ik_service
• Launch one of the demo scripts, e.g.: rosrun bio_ik_service_examples get_bio_ik.py

See ./bio_ik_service_examples/scripts for more information on how to use the BioIK service...