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
You can run the example code under src/pr2_kdl_wrapper_example.cpp by doing the following:
-
Make sure you have the pr2_common metapackage:
sudo apt-get install ros-<rosdistro>-pr2-common
-
Upload the PR2 URDF:
roslaunch pr2_description upload_pr2.launch kinect:=TRUE
-
Compile the
kdl_wrapper
package. -
Run the pr2_kdl_wrapper_example :
rosrun kdl_wrapper pr2_kdl_wrapper_example