force_torque_tools:
force-torque sensor calibration and gravity compensation.
kdl_acc_solver:
KDL solver for calculating cartesian accelerations from joint
positions, velocities and accelerations.
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:
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.