how does KDL ChainDynParam and its JntToGravity actually work?
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.
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
Eigen
could 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.