kdl_wrapper repository

Repository Summary

Checkout URI https://github.com/kth-ros-pkg/kdl_wrapper.git
VCS Type git
VCS Version hydro
Last Updated 2014-10-29
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

Name Version
kdl_wrapper 0.1.0

README

kdl_wrapper

Overview

C++ wrapper for easily using KDL kinematic solvers with robots defined in ROS through URDF files. Wraps the kdl and kdl_parser packages for generating KDL kinematic chains from URDF by just taking as inputs the IDs of the root and tip of the kinematic chain of a robot manipulator.

It also initializes the following KDL solvers: - Inverse velocity solver (WDLS) - Forward joint to jacobian solver - Forward joint to pose solver - Forward joint to acceleration solver

Requires the kdl_acc_solver package to be installed in the catkin workspace:

    git clone https://github.com/kth-ros-pkg/kdl_acc_solver.git

Example code

You can run the example code under src/pr2_kdl_wrapper_example.cpp by doing the following:

  1. Make sure you have the pr2_common metapackage:

    sudo apt-get install ros-<rosdistro>-pr2-common
    
  2. Upload the PR2 URDF:

    roslaunch pr2_description upload_pr2.launch kinect:=TRUE
    
  3. Compile the kdl_wrapper package.

  4. Run the pr2_kdl_wrapper_example :

    rosrun kdl_wrapper pr2_kdl_wrapper_example
    

CONTRIBUTING

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