Only released in EOL distros:
Package Summary
C++ wrapper for easily using KDL kinematic solvers with robots defined in ROS through URDF files. Wraps the kdl and kdl_parser packages for generating KDL kinematic chains from URDF by just taking as inputs the IDs of the root and tip of the kinematic chain of a robot manipulator.
- Maintainer: Francisco Vina <fevb AT kth DOT se>, Francisco Vina <fevb AT kth DOT se>
- Author: Francisco Vina <fevb AT kth DOT se>
- License: BSD
- Source: git https://github.com/kth-ros-pkg/kdl_wrapper.git (branch: groovy)
Package Summary
C++ wrapper for easily using KDL kinematic solvers with robots defined in ROS through URDF files. Wraps the kdl and kdl_parser packages for generating KDL kinematic chains from URDF by just taking as inputs the IDs of the root and tip of the kinematic chain of a robot manipulator.
- Maintainer: Francisco Vina <fevb AT kth DOT se>, Francisco Vina <fevb AT kth DOT se>
- Author: Francisco Vina <fevb AT kth DOT se>
- License: BSD
- Source: git https://github.com/kth-ros-pkg/kdl_wrapper.git (branch: hydro)
Prerequisites
This package requires the kdl_acc_solver package to be installed.
Example code for PR2
An example C++ code for doing inverse kinematics with the PR2 is given under src/pr2_kdl_wrapper_example.cpp :
1 #include <ros/ros.h>
2 #include <ros/console.h>
3 #include <iostream>
4 #include <kdl_wrapper/kdl_wrapper.h>
5
6
7 int main(int argc, char *argv[])
8 {
9 /// initialize ROS, specify name of node
10 ros::init(argc, argv, "pr2_kdl_wrapper_example");
11
12
13 KDLWrapper pr2_kdl_wrapper;
14
15 if(!pr2_kdl_wrapper.init("torso_lift_link", "r_gripper_tool_frame"))
16 {
17 ROS_ERROR("Error initiliazing pr2_kdl_wrapper");
18 }
19
20 KDL::JntArray q_in(7);
21 q_in(0) = 0.0;
22 q_in(1) = M_PI/2;
23 q_in(2) = 0.0;
24 q_in(3) = M_PI/4;
25 q_in(4) = 0.0;
26 q_in(5) = 0.0;
27 q_in(6) = M_PI/3;
28
29
30 KDL::Twist v_in;
31 v_in.vel = KDL::Vector(0.0, 0.2, 0.2);
32 v_in.rot = KDL::Vector(0.0, 0.0, 0.0);
33
34 KDL::JntArray q_dot_out;
35 ROS_INFO("Calculating inverse kinematics");
36 pr2_kdl_wrapper.ik_solver_vel->setLambda(0.3);
37 pr2_kdl_wrapper.ik_solver_vel->CartToJnt(q_in, v_in, q_dot_out);
38
39 ROS_INFO("Output q_dot: (%f, %f, %f, %f, %f, %f, %f)",
40 q_dot_out(0),
41 q_dot_out(1),
42 q_dot_out(2),
43 q_dot_out(3),
44 q_dot_out(4),
45 q_dot_out(5),
46 q_dot_out(6));
47
48 return 0;
49 }
You can run the example code by doing the following:
1. Make sure you have the pr2_common metapackage:
sudo apt-get install ros-<rosdistro>-pr2-common
2. Upload the PR2 URDF:
roslaunch pr2_description upload_pr2.launch kinect:=TRUE
3. Compile the kdl_wrapper package.
4. Run the pr2_kdl_wrapper_example :
rosrun kdl_wrapper pr2_kdl_wrapper_example
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