Feat/ikfast

[oguzhanbzglu]

This MR introduces two new packages to the kinematics_interface repository:

1. kinematics_interface_ikfast - A plugin wrapper for IKFast-generated analytical kinematics solvers
2. kinematics_nodes - ROS 2 nodes that expose kinematics functionality as services

Changes

New Packages

kinematics_interface_ikfast/ (under development)

• Abstract base class implementing KinematicsInterface for IKFast solvers
• Supports analytical inverse kinematics

kinematics_nodes/

• ik_plugin_service_node: MoveIt-compatible IK service (custom_compute_ik)
• Plugin-based architecture supporting KDL, Pinocchio, and IKFast backends

Core Interface Updates

kinematics_interface/

• Added new virtual methods to KinematicsInterface base class:
  • convert_cartesian_pose_to_closest_joint_state() - Find closest IK solution
  • convert_cartesian_pose_to_joint_state_within_range() - IK with joint limits
  • convert_cartesian_pose_to_possible_joint_states() - Get possible IK solutions
  • convert_joint_state_to_cartesian_pose() - Forward kinematics helper

[christophfroehlich]

Thank you, I like the idea in general. However, please split this in three PRs or we well never manage to review this:

• API const changes to base class and existing interfaces (may not be backportable to stable distros)
• the kinematics_node
• the IK plugin

[oguzhanbzglu]

Please find the separated MRs for the feature added here, Feat-IKFast.
Feel free to close this PR.