G.A. vd. Hoorn

> what is the problem? I'm not sure: what is the problem now? Note: the `chain` is defined as `base_link->ee_link` in [the original UR5 SRDF](https://github.com/ros-industrial/universal_robot/blob/2af9088dfa2671c8184900c0710e85ea54f2413f/ur5_moveit_config/config/ur5.srdf#L13).

Just making sure: `geometry_msgs::Pose` uses quaternions for orientation (so no Euler angles). re: DH: each UR has slightly different DH parameters due to kinematic calibration. How 'different' are yours? It...

re: DH data: if I reorder the constants I get almost the same values. *Almost*, but as I wrote earlier: each UR robot is different. You might ask: "but why...

Ok. So in the interest of all future readers that might want to do the same thing as you are trying to do: what "additional matrices" are you and @kphawkins...

This issue confuses me as well and I believe I would have the same questions / comments as @atenpas and @a-price in #300. I've marked it as `wrid18` so that...

> You can find them in ur_kin.h, I'll replicate here for convieniance: > > //These kinematics find the tranfrom from the base link to the end effector. > // Though...

We're having some problems with our KR210 here, so I can't really test this. If someone else from the regulars here would care to test this PR, that would be...

Yes, this is an unfortunate side-effect of all macros redefining `yaskawa_blue`. We could introduce a `motoman_resources` package (similar to `fanuc_resources`, `abb_resources`, etc) which provides this definition once and then reuse...

@atenpas: could you elaborate your comment a bit? Are you saying that you don't encounter the problems that @TheURMaxer describes / described in #299?

Ok. Tnx.