0.3.3 (02/03/2011)

• regenerated stack.xml

0.3.2 (02/01/2011)

• fixed bug in forward kinematics where it was not choosing the right set of joints.

0.3.1 (01/05/2011)

• all packages from pr2_kinematics_with_constraints have moved here.

0.3.0 (12/27/2010)

• new release from trunk into unstable

0.2.3 (06/22/2010)

• services come up only after node is fully active
• pluginlib implementation of pr2_arm_kinematics for use with planners - uses the new kinematics base class from the kinematics stack
• ability to apply user-specified constraints through a callback structure

0.2.2 (05/15/2010)

0.2.1

• Change in pr2_arm_ik - upperarm_roll is no longer wrapped when solution is output from ik solver.

0.2.0

• pr2_arm_ik renamed to pr2_arm_kinematics

• node names changed to pr2_right_arm_kinematics, pr2_left_arm_kinematics
• now offers separate solver information services for fk and ik
• ik only offered for wrist_roll_link and not for all links
• fk offered for all links in chain
• simplified callback structure - callbacks will be called only with pose, jnt_array and error_code