ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

PyKDL is a Python library that can compute the forward kinematics for a kinematic chain with arbitrary joint position values. There is a nice simple wrapper http://wiki.ros.org/pykdl_utils for easier access to this functionality.

The robot_state_publisher provides a node and a C++ library to do the FK for joint states on a ROS topic.