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 Viña 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. Viña 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
> http://lists.ros.org/mailman/listinfo/ros-users
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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
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