ROS Index
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) |
Packages
| Name | Version |
|---|---|
| kinematics_interface_pinocchio | 0.0.1 |
README
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
-
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
CONTRIBUTING
No CONTRIBUTING.md found.
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