Great work Francisco, thanks for the contributions!<div><br></div><div>However, how does your kdl_wrapper package differ from the established URDF <a href="http://wiki.ros.org/kdl_parser?distro=hydro">kdl_parser</a> package and MoveIt&#39;s <a href="https://github.com/ros-planning/moveit_ros/tree/hydro-devel/planning/kdl_kinematics_plugin">kdl_kinematics_plugin</a> and kdl-based <a href="https://github.com/ros-planning/moveit_core/tree/hydro-devel/dynamics_solver">dynamics solver</a>? Perhaps these packages could be merged/centralized to prevent duplication of functionality?</div>
<div><br></div><div>Dave<br><br>On Friday, December 13, 2013, Francisco Viña  wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
  
    
  
  <div bgcolor="#FFFFFF" text="#000000">
    Hi,<br>
    <br>
    The Royal Institute of Technology (KTH, Sweden) is proud to announce
    the release of <a href="http://wiki.ros.org/kth-ros-pkg" target="_blank">kth-ros-pkg</a>.
    Some of our packages include:<br>
    <br>
    
    <ul>
      <li><b><a href="http://wiki.ros.org/biotac_driver" target="_blank">biotac_driver</a>:</b>
        catkinization of UPenn&#39;s Haptics group&#39;s low level drivers for
        the <a href="http://wiki.ros.org/BioTac" target="_blank">Biotac sensor</a>.</li>
    </ul>
    <ul>
      <li><b><a href="http://wiki.ros.org/force_torque_tools" target="_blank">force_torque_tools</a>:</b>
        force-torque sensor calibration and gravity compensation.</li>
    </ul>
    <ul>
      <li><b><a href="http://wiki.ros.org/kdl_acc_solver" target="_blank">kdl_acc_solver</a>:</b>
        KDL solver for calculating cartesian accelerations from joint
        positions, velocities and accelerations.</li>
    </ul>
    <ul>
      <li><b><a href="http://wiki.ros.org/kdl_wrapper" target="_blank">kdl_wrapper</a>:</b>
        C++ wrapper for easily getting KDL kinematic chains and using
        KDL kinematic solvers with robots defined in ROS through URDF in
        the parameter server.</li>
    </ul>
    Future packages will include :<br>
    <ul>
      <li><a href="http://wiki.ros.org/door_opening_control" target="_blank">door_opening_control</a>:
        adaptive controllers for simultaneous control and estimation of
        kinematic parameters of sliding and revolute doors.<br>
        <br>
      </li>
    </ul>
    <a href="https://wiki.ros.org/door_opening_control" target="_blank"></a>As well as
    adaptive control/kinematics estimation for tool calibration, joint
    human-robot manipulation of objects, etc.<br>
    <br>
    Our github repo:<br>
      <a href="https://github.com/kth-ros-pkg" target="_blank">https://github.com/kth-ros-pkg</a><br>
    <br>
    <br>
    Best,<br>
    <br>
    Francisco<br>
    <br>
    <div>-- <br>
      
      <div> <span style>Francisco E. Viña B.</span></div>
      <div> <span style="font-size:14px"><span style="font-family:arial,helvetica,sans-serif"><var><span style="color:rgb(128,128,128)">PhD Student at CVAP/CAS, KTH</span></var></span></span></div>
      <div> <span style="font-size:14px"><span style="font-family:arial,helvetica,sans-serif"><var><span style="color:rgb(128,128,128)">Teknikringen 14, office 609</span></var></span></span></div>
      <div> <span style="font-size:14px"><span style="font-family:arial,helvetica,sans-serif"><var><span style="color:rgb(128,128,128)">114 28 Stockholm, Sweden.</span></var></span></span></div>
      <div>
        <div> <span style="font-size:14px"><span style="font-family:arial,helvetica,sans-serif"><var><span style="color:rgb(128,128,128)">WWW: <a href="http://www.csc.kth.se/%7Efevb" target="_blank">http://www.csc.kth.se/~fevb</a>
                </span></var></span></span></div>
        <div> <span style="font-size:14px"><span style="font-family:arial,helvetica,sans-serif"><var><span style="color:rgb(128,128,128)">Tel: +46-8-790-7224</span></var></span></span></div>
      </div>
    </div>
  </div>

</blockquote></div><br><br>-- <br><div dir="ltr"><div><span style="color:rgb(51,51,51);font-family:arial,sans-serif;background-color:rgb(255,255,255)"><font>:: dave | 251</font></span><span style="color:rgb(51,51,51);font-size:small">.463.2345</span><span style="color:rgb(51,51,51);font-family:arial,sans-serif;background-color:rgb(255,255,255)"><font> c</font></span></div>
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