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Your question has very limited information on what you actually want to achieve (calculate forward kinematics, inverse kinematics, inverse dynamics, wrenches, twists etc.?). I´d recommend looking at (and possible using) MoveIt!. It provides advanced capabilities or motion planning, but also basic kinematics functionality described here. If you´re more interested in the low level control side of things, this cartesian controller implementation for ros_control demonstrates how you can read a URDF file and initialize KDL objects from it.
As you might have noted, the recommended first step is to generate a URDF model or your robot, as this makes use of KDL (and many other tools in the ROS ecosystem) much easier.
hi thanks for you answer. I find that https://github.com/kouretes/NAOKinematics. I want to calculate the center of mass from the robot. int main(){ NAOKinematics nkin; nkin2.calculateCoMChain((Frames)HEAD, (Frames)(FR_BASE_T+CHAIN_HEAD), HEAD_SIZE, m); sumc=nkin2; summass=m; return 0; } Something is wrong. Someone an idea?
Asked: 2014-06-16 13:04:52 -0600
Seen: 200 times
Last updated: Jun 17 '14
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