Grey

If these changes are not strictly needed in `indigo-devel`, I would suggest closing this PR in favor of #358 which combines these changes with #305 and targets `kinetic-devel`. Alternatively, we...

Note that there are some concerns about the performance of this implementation. More information can be found [here](https://github.com/ros-industrial/universal_robot/pull/316#issuecomment-404192538). To address those concerns, I've created a [branch](https://github.com/mxgrey/universal_robot/tree/merge_239_305_316) that merges in the...

As explained [here](https://github.com/ros-industrial/universal_robot/pull/316#issuecomment-404240411), it's been determined that the approach of #316 performs much more favorably than #305 under some nominal conditions, so that approach has been merged into this PR...

> I'd like to keep the performance test you wrote around. Would it make sense to add the launch file and test prog to ur_kinematics? Sure. They should probably be...

> Looking at the code of this PR right now my changes aren't even in here. It uses the enumerate all method in searchPositionIK as well. @hartmanndennis Are you perhaps...

Ah, no, I was just double-checking that this branch was up-to-date.

@simonschmeisser Thanks for catching those bugs, and sorry for my slow reply. This PR was from participating in a ROS-I Hackathon Day some years ago, so it's fallen very low...

The seg fault issue with the classic bullet plugin is fixed by gazebosim/gz-physics#393 and the TPE failing to load is fixed by [4b01010](https://github.com/gazebosim/gz-sim/pull/1560/commits/4b010109285a9bb8582f66cd7b8e4de2e98e625f). I think the joint offset issue for...

@osrf-jenkins retest this please

I believe the mimic joint added in #1178 can satisfy what I meant by "transmission constraint" in this issue. The URDF concept of a "transmission" is a bit different, because...