ROS Index
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kinematics_interface_pinocchio package from kinematics_interface_pinocchio repokinematics_interface_pinocchio |
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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 | main |
| Last Updated | 2024-08-05 |
| 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
A Pinocchio-based ROS2 Kinematics Interface implementation. This can be used instead of the default KDL implementation shipped with default ROS installations.
Requires pinocchio to be installed: apt install ros-humble-pinocchio.
Roadmap
- Replicate KDL implemenations and capabilities with Pinocchio
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Package as a ROS2 plugin which can be used in place of
kinematics_interface_kdl. - Benchmark and compare performances
- Allow arbitrary frames to be used as base (currently uses root joint from model)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio
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.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| eigen3_cmake_module | |
| ament_cmake_gmock | |
| ros2_control_test_assets | |
| kinematics_interface | |
| pinocchio | |
| pluginlib |
System Dependencies
| Name |
|---|
| eigen |
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.
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