RethinkRobotics/baxter_custom_ikfast
This repo aids in generating custom IKFast solvers for Baxter. Please follow the link for a complete tutorial.
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Discovered Oct 14, 2026
RethinkRobotics / mutable_robot_state_publisher
This fork of the standard ROS robot_state_publisher adds the ability to dynamically change the URDF at runtime, by adding joint and linkage trees. Hotswapping end-effectors on a robot's arm is now possible without needing to restart the robot_state_publisher.
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