Orocos-KDL¶

Official website: http://www.orocos.org/kdl

Packages for ROS Installation¶

Installation

sudo apt-get install ros-<distro>-orocos-kdl # Orocos-KDL main library
sudo apt-get install ros-<distro>-kdl-parser # model file parser

Link files

orocos-kdl
kdl_parser

Include files

kdl/kdl_parser.hpp model parser
kdl/chain.hpp
kdl/frames.hpp declaration for frames
kdl/jntarray.hpp declaration for joint-state variables
kdl/chainfksolverXXX_YYY.hpp forward kinematics/dynamics solver
kdl/chainiksolverXXX_YYY.hpp inverse kinematics/dynamics solver

Generate Models¶

convert .xacro file to .urdf file¶

rosrun xacro xacro --inorder <xacro_input_file> > <urdf_output_file>

Usage¶

Parse Models¶

KDL::Tree tree;                              // model tree
kdl_parser::treeFromFile(urdf_file, tree);   // parse from urdf file

KDL::Chain chain                             // link chains
tree.getChain("<start_segment_name>", "<end_segment_name>", tree);

Forward Kinematics/Dynamics¶

KDL::ChainFkSolverXXX *fk_solver;
fk_solver = new KDL::ChainFkSolverXXX_YYY(chain);

KDL::JntArray joint_position;
KDL::Frame end_frame;
fk_solver->JntToCart(joint_position, end_frame);

Inverse Kinematics/Dynamics¶

KDL::ChainIkSolverXXX *ik_solver;
ik_solver = new KDL::ChainIkSolverXXX_YYY(chain);

KDL::JntArray joint_start_position, joint_target_position;
KDL::Frame target_frame;
ik_solver->CartToJoint(joint_start_position, target_frame, joint_target_position);