KDL for obtain an arm jacobian

asked 2016-05-17 04:08:31 -0500

g.paulo gravatar image

Hi all,

I'm trying to obtain the jacobian of an arm that is in .xacro format. I'm a beginner using KDL and I see that can be used kdl_parser to obtain a tree from urdf.

I follow this tutorial for build kdl_parser, but I don't understand where I have to insert the dependence tag. I'll explain better: my xacro model is in my catkin/src directory, has this tag to be added in the my_model directory package.xml? Have I to modify the CMakeList of this directory or the catkin CMakeList?

Then, when I make a C++ file as in the tutorial above, it should be placed in a specified directory?

PS: I tried to install kdl from this link. I installed creating a directory in my home. It is true?

I'm sorry but I'm a beginner and I have trouble, is there someone that can list me all the step that I have to follow for obtain a jacobian?

Thank all !

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Comments

did you find the solution I have a similar problem ?

ZainMehdi gravatar imageZainMehdi ( 2016-11-18 03:28:53 -0500 )edit