Hi Dave,

kdl_wrapper is a very thin package, it basically wraps kdl_parser 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 package and MoveIt's kdl_kinematics_plugin and kdl-based dynamics solver? Perhaps these packages could be merged/centralized to prevent duplication of functionality?

Dave

On Friday, December 13, 2013, Francisco Viña wrote:
Hi,

The Royal Institute of Technology (KTH, Sweden) is proud to announce the release of kth-ros-pkg. Some of our packages include:

  • 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.

Our github repo:
  https://github.com/kth-ros-pkg


Best,

Francisco

--
Francisco E. Viña B.
PhD Student at CVAP/CAS, KTH
Teknikringen 14, office 609
114 28 Stockholm, Sweden.
Tel: +46-8-790-7224


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:: dave | 251.463.2345 c



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Francisco E. Viña 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