ROS Index
Repository Summary
| Checkout URI | https://github.com/justagist/kinematics_interface_pinocchio.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-08-05 |
| Dev Status | MAINTAINED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| kinematics_interface_pinocchio | 0.0.1 |
README
kinematics_interface_pinocchio
A Pinocchio-based ROS2 Kinematics Interface implementation. This can be used instead of the default KDL implementation shipped with default ROS installations.
Requires pinocchio to be installed: apt install ros-humble-pinocchio.
Roadmap
- Replicate KDL implemenations and capabilities with Pinocchio
-
Package as a ROS2 plugin which can be used in place of
kinematics_interface_kdl. - Benchmark and compare performances
- Allow arbitrary frames to be used as base (currently uses root joint from model)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
CONTRIBUTING
No CONTRIBUTING.md found.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.
No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.