Hi Dave,

kdl_wrapper is a very thin package, it basically wraps *kdl_parse**r* to 
make it quicker to get a kinematic chain definition from a URDF-defined 
robot. I included an example with the PR2 in the src folder, for 
initialization you just have to specify the root and tip links of the chain:

pr2_kdl_wrapper.init("torso_lift_link","r_gripper_tool_frame")


I can make that clarification perhaps in the description of the package.


Cheers,

Francisco

On 12/16/2013 06:33 AM, Dave Coleman wrote:
> Great work Francisco, thanks for the contributions!
>
> However, how does your kdl_wrapper package differ from the established 
> URDF kdl_parser <http://wiki.ros.org/kdl_parser?distro=hydro> package 
> and MoveIt's kdl_kinematics_plugin 
> <https://github.com/ros-planning/moveit_ros/tree/hydro-devel/planning/kdl_kinematics_plugin> and 
> kdl-based dynamics solver 
> <https://github.com/ros-planning/moveit_core/tree/hydro-devel/dynamics_solver>? 
> Perhaps these packages could be merged/centralized to prevent 
> duplication of functionality?
>
> Dave
>
> On Friday, December 13, 2013, Francisco Viņa wrote:
>
>     Hi,
>
>     The Royal Institute of Technology (KTH, Sweden) is proud to
>     announce the release of kth-ros-pkg
>     <http://wiki.ros.org/kth-ros-pkg>. Some of our packages include:
>
>       * *biotac_driver <http://wiki.ros.org/biotac_driver>:*
>         catkinization of UPenn's Haptics group's low level drivers for
>         the Biotac sensor <http://wiki.ros.org/BioTac>.
>
>       * *force_torque_tools <http://wiki.ros.org/force_torque_tools>:*
>         force-torque sensor calibration and gravity compensation.
>
>       * *kdl_acc_solver <http://wiki.ros.org/kdl_acc_solver>:* KDL
>         solver for calculating cartesian accelerations from joint
>         positions, velocities and accelerations.
>
>       * *kdl_wrapper <http://wiki.ros.org/kdl_wrapper>:* C++ wrapper
>         for easily getting KDL kinematic chains and using KDL
>         kinematic solvers with robots defined in ROS through URDF in
>         the parameter server.
>
>     Future packages will include :
>
>       * door_opening_control
>         <http://wiki.ros.org/door_opening_control>: adaptive
>         controllers for simultaneous control and estimation of
>         kinematic parameters of sliding and revolute doors.
>
>     As well as adaptive control/kinematics estimation for tool
>     calibration, joint human-robot manipulation of objects, etc.
>
>     Our github repo:
>     https://github.com/kth-ros-pkg
>
>
>     Best,
>
>     Francisco
>
>     -- 
>     Francisco E. Viņa B.
>     PhD Student at CVAP/CAS, KTH
>     Teknikringen 14, office 609
>     114 28 Stockholm, Sweden.
>     WWW: http://www.csc.kth.se/~fevb <http://www.csc.kth.se/%7Efevb>
>     Tel: +46-8-790-7224
>
>
>
> -- 
> :: dave | 251.463.2345 c
>
>
>
> _______________________________________________
> ros-users mailing list
> ros-users@code.ros.org
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Francisco E. Viņa B.
PhD Student at CVAP/CAS, KTH
Teknikringen 14, office 609
114 28 Stockholm, Sweden.
WWW: http://www.csc.kth.se/~fevb
Tel: +46-8-790-7224