Jack Liu

Is this process still forward? The matrix differentiation still no solution from sympy.

@k-okada It seems packages with kinetic version can't be compiled in your [repository](https://github.com/tork-a/libuvc_ros-release)?

@MalcolmMielle you may need a docker version. You can consider my ros docker image [jacknlliu/ros](https://hub.docker.com/r/jacknlliu/ros/) which integrated with roboware. I think this will significantly improve your user experience about ros...

just like the [iiwa_stack](https://github.com/IFL-CAMP/iiwa_stack) using the [CartesianWrench](https://github.com/IFL-CAMP/iiwa_stack/blob/master/iiwa_msgs/msg/CartesianWrench.msg) to publish the wrench. It is useful to detect the force and torque just using the robot not other sensors.

I hope to use it as a wrench sensor.

@costashatz reference to https://github.com/CentroEPiaggio/kuka-lwr/issues/38#issue-90917096, and [Compute cartesian wrench on end effector](https://github.com/CentroEPiaggio/kuka-lwr/blob/f9b638a3afe41e8bd6efc0a2e8b47b3d5e4c5f6c/lwr_controllers/src/arm_state_controller.cpp#L85). It only needs the `getExternalTorque()` and Jacobian transpose matrix.

@CKowal This can be implemented in the [iiwa_driver](https://github.com/epfl-lasa/iiwa_ros/blob/master/iiwa_driver/src/iiwa.cpp) by the FRI interface, and no need to modified the `FRIOverlay.java`.

Is it relative to the `tool_base`, not the given `tool_pt` z-axis?

What about importing a new construction method of the [`TolerancedFrame`](https://github.com/ros-industrial-consortium/descartes/blob/065630c8711c71913503bc14069faca6aa9d30cc/descartes_trajectory/include/descartes_trajectory/cart_trajectory_pt.h#L156) like ```cpp TolerancedFrame(const Eigen::Affine3d &a, const std::vector &pos_tol, const std::vector &orient_tol) : Frame(a) { Eigen::Vector3d t = a.translation(); Eigen::Matrix3d m...

@jrgnicho yeah, it's possible from the current implementation, but the default implementation allow the user to create the absolute range for an axis relative to the `tool_base` easily, like ```cpp...