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