kinematics_interface_pinocchio package from kinematics_interface_pinocchio repo

kinematics_interface_pinocchio

Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/justagist/kinematics_interface_pinocchio.git
VCS Type git
VCS Version ros-humble
Last Updated 2025-01-07
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Pinocchio-based implementation of ros2_control kinematics interface

Additional Links

No additional links.

Maintainers

  • Saif Sidhik

Authors

  • Saif Sidhik

kinematics_interface_pinocchio

License
ROS Humble ROS Jazzy ROS Rolling

A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.


Overview

This package provides:

  • A Pinocchio-based implementation of the kinematics_interface for ROS 2.
  • The same plugin interface as the default KDL plugin (kinematics_interface_kdl).
  • A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.

Installation

You can install this package directly from your ROS 2 distribution’s repositories:

sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio

Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).


Build Status

ROS Distro Build Status
Humble Build and Test (ROS 2 Humble)
Jazzy Build and Test (ROS 2 Jazzy)
Rolling Build and Test (ROS 2 Rolling)

Usage

To use this plugin in place of the default KDL plugin:

  1. Update your ROS 2 package dependencies to include kinematics_interface_pinocchio.
  2. In your configuration or launch files, specify the Pinocchio plugin shared library instead of kinematics_interface_kdl.

An example snippet:

<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>


TODO

  • Replicate KDL implementations and capabilities with Pinocchio
  • Package as a ROS 2 plugin usable in place of kinematics_interface_kdl
  • Benchmark and compare performance
  • Allow arbitrary frames to be used as base (currently uses the model’s root joint)
  • Add support for floating-base robots
  • Add support for continuous joints and other composite joints supported by Pinocchio

License

This project is licensed under the Apache 2.0 License. See the LICENSE file for details.


Contributions welcome!

CHANGELOG

Changelog for package kinematics_interface_pinocchio

0.0.1

  • create a pinocchio kinematics plugin following ros2 kinematics_interface format
  • Contributors: Saif Sidhik

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange

kinematics_interface_pinocchio package from kinematics_interface_pinocchio repo

kinematics_interface_pinocchio

Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/justagist/kinematics_interface_pinocchio.git
VCS Type git
VCS Version ros-jazzy
Last Updated 2025-01-07
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Pinocchio-based implementation of ros2_control kinematics interface

Additional Links

No additional links.

Maintainers

  • Saif Sidhik

Authors

  • Saif Sidhik

kinematics_interface_pinocchio

License
ROS Humble ROS Jazzy ROS Rolling

A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.


Overview

This package provides:

  • A Pinocchio-based implementation of the kinematics_interface for ROS 2.
  • The same plugin interface as the default KDL plugin (kinematics_interface_kdl).
  • A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.

Installation

You can install this package directly from your ROS 2 distribution’s repositories:

sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio

Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).


Build Status

ROS Distro Build Status
Humble Build and Test (ROS 2 Humble)
Jazzy Build and Test (ROS 2 Jazzy)
Rolling Build and Test (ROS 2 Rolling)

Usage

To use this plugin in place of the default KDL plugin:

  1. Update your ROS 2 package dependencies to include kinematics_interface_pinocchio.
  2. In your configuration or launch files, specify the Pinocchio plugin shared library instead of kinematics_interface_kdl.

An example snippet:

<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>


TODO

  • Replicate KDL implementations and capabilities with Pinocchio
  • Package as a ROS 2 plugin usable in place of kinematics_interface_kdl
  • Benchmark and compare performance
  • Allow arbitrary frames to be used as base (currently uses the model’s root joint)
  • Add support for floating-base robots
  • Add support for continuous joints and other composite joints supported by Pinocchio

License

This project is licensed under the Apache 2.0 License. See the LICENSE file for details.


Contributions welcome!

CHANGELOG

Changelog for package kinematics_interface_pinocchio

0.0.1

  • create a pinocchio kinematics plugin following ros2 kinematics_interface format
  • Contributors: Saif Sidhik

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange

kinematics_interface_pinocchio package from kinematics_interface_pinocchio repo

kinematics_interface_pinocchio

Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/justagist/kinematics_interface_pinocchio.git
VCS Type git
VCS Version ros-rolling
Last Updated 2025-01-07
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Pinocchio-based implementation of ros2_control kinematics interface

Additional Links

No additional links.

Maintainers

  • Saif Sidhik

Authors

  • Saif Sidhik

kinematics_interface_pinocchio

License
ROS Humble ROS Jazzy ROS Rolling

A Pinocchio-based ROS 2 Kinematics Interface plugin. This can serve as a drop-in replacement for the default KDL plugin in ROS 2, offering a different backend for forward and inverse kinematics.


Overview

This package provides:

  • A Pinocchio-based implementation of the kinematics_interface for ROS 2.
  • The same plugin interface as the default KDL plugin (kinematics_interface_kdl).
  • A path to potentially better performance (to be benchmarked) and additional features enabled by Pinocchio.

Installation

You can install this package directly from your ROS 2 distribution’s repositories:

sudo apt-get update
sudo apt-get install ros-${ROS_DISTRO}-kinematics-interface-pinocchio

Alternatively, you can clone this repository into your ROS workspace and build from source (requires pinocchio to be installed/built).


Build Status

ROS Distro Build Status
Humble Build and Test (ROS 2 Humble)
Jazzy Build and Test (ROS 2 Jazzy)
Rolling Build and Test (ROS 2 Rolling)

Usage

To use this plugin in place of the default KDL plugin:

  1. Update your ROS 2 package dependencies to include kinematics_interface_pinocchio.
  2. In your configuration or launch files, specify the Pinocchio plugin shared library instead of kinematics_interface_kdl.

An example snippet:

<!-- Example usage in a ROS 2 controller configuration -->
<plugin>kinematics_interface_pinocchio/KinematicsInterfacePinocchio</plugin>


TODO

  • Replicate KDL implementations and capabilities with Pinocchio
  • Package as a ROS 2 plugin usable in place of kinematics_interface_kdl
  • Benchmark and compare performance
  • Allow arbitrary frames to be used as base (currently uses the model’s root joint)
  • Add support for floating-base robots
  • Add support for continuous joints and other composite joints supported by Pinocchio

License

This project is licensed under the Apache 2.0 License. See the LICENSE file for details.


Contributions welcome!

CHANGELOG

Changelog for package kinematics_interface_pinocchio

0.0.1

  • create a pinocchio kinematics plugin following ros2 kinematics_interface format
  • Contributors: Saif Sidhik

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged kinematics_interface_pinocchio at Robotics Stack Exchange

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