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Hello! Could anyone share some tips and tricks? I've found that gravity should be 0, 0, -2 * 9.81 and this is strange. Another problem is that JntToGravity doesn't account for last chain link. I'm very confused with that and don't know where to look.
Ok, so there is a bug in kdl_parser_py. You have to specify xyz AND rpy for link origins, otherwise they're be set to 0 both, ruining your model.
UPD: Here is the link to the pull request, which fixes the bug: https://github.com/ros/robot_model/pu...
Here is my pull request https://github.com/ros/robot_model/pu... The discussion has stopped for whatever reason.
Asked: 2017-02-05 12:34:30 -0500
Seen: 338 times
Last updated: Apr 12 '17
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KDL is actually not written / maintained by ROS / the OSRF, but is a library that is part of the OROCOS infrastructure. I think you'll have a better chance at getting good answers over at the KDL mailing list.
thanks. In a while, could you tell me if there is a KDL alternative inside of ROS?
For some of the minor functionality (frames, etc), perhaps
Eigencould be an alternative. For all the other functionality (kinematics, solvers, dynamics, etc), there are probably alternatives, but I have none to recommend.Note that KDL is very much used in ROS, just not developed / maintained.