ROS Index
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble |  |
| Jazzy |  |
| Rolling |  |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-jazzy |
| Last Updated | 2025-06-28 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Requires pinocchio to be installed: apt install ros-rolling-pinocchio.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.2 (2025-06-28)
- fixes to adapt to upstream changes in kinematics_interface
- Contributors: David V. Lu, Saif Sidhik
0.0.1 (2024-08-05)
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-rolling |
| Last Updated | 2025-06-28 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Requires pinocchio to be installed: apt install ros-rolling-pinocchio.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.2 (2025-06-28)
- fixes to adapt to upstream changes in kinematics_interface
- Contributors: David V. Lu, Saif Sidhik
0.0.1 (2024-08-05)
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.2 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-rolling |
| Last Updated | 2025-06-28 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Requires pinocchio to be installed: apt install ros-rolling-pinocchio.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.2 (2025-06-28)
- fixes to adapt to upstream changes in kinematics_interface
- Contributors: David V. Lu, Saif Sidhik
0.0.1 (2024-08-05)
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange
No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
|
|
kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.0.1 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | ros-humble |
| Last Updated | 2025-01-07 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Pinocchio-based implementation of ros2_control kinematics interface
Additional Links
No additional links.
Maintainers
- Saif Sidhik
Authors
- Saif Sidhik
kinematics_interface_pinocchio
A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.
Overview
This package provides:
- A Pinocchio-based implementation of the
kinematics_interfacefor ROS 2. - The same plugin interface as the default KDL plugin (
kinematics_interface_kdl). - A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.
Installation
You can install this package directly from your ROS 2 distribution’s repositories:
sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio
Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).
Build Status
| ROS Distro | Build Status |
|---|---|
| Humble | |
| Jazzy | |
| Rolling | |
Usage
To use this plugin in place of the default KDL plugin:
- Update your ROS 2 package dependencies to include
kinematics_interface_pinocchio. - In your configuration or launch files, specify the Pinocchio plugin shared library instead of
kinematics_interface_kdl.
An example snippet:
<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>
TODO
- Replicate KDL implementations and capabilities with Pinocchio
-
Package as a ROS 2 plugin usable in place of
kinematics_interface_kdl - Benchmark and compare performance
- Allow arbitrary frames to be used as base (currently uses the model’s root joint)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
License
This project is licensed under the Apache 2.0 License. See the LICENSE file for details.
Contributions welcome!
CHANGELOG
Changelog for package kinematics_interface_pinocchio
0.0.1
- create a pinocchio kinematics plugin following ros2 kinematics_interface format
- Contributors: Saif Sidhik
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.