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https://answers.ros.org/question/281272/get-forward-kinematics-wo-tf-service-call-from-urdf-joint-angles-kinetic-python/?answer=281455#post-id-281455

I was able to clone the https://github.com/gt-ros-pkg/hrl-kdl indigo-devel branch directly into my catkin_ws and use it for FK w/o any problems - so far.

from urdf_parser_py.urdf import URDF
from pykdl_utils.kdl_kinematics import KDLKinematics

# pykdl_utils setup
robot_urdf = URDF.from_xml_string(urdf_str)
kdl_kin = KDLKinematics(robot_urdf, base_link, end_link)

test_jt_angles = [0, 0, 0]
pose = kdl_kin.forward(test_jt_angles)

Thanks for the tip you gave me on my question. May still end up going down that route if I run into problems.