RKDLib

RKDLib is a wrapper of the KDL library from Orocos, which uses Eigen and simplify the obtaining of kinematics and dynamics properties for any robot by URDF.

Requirements:

This package requires the installation of the following packages. To avoid issue with the lib versioning, please follow the order.

sudo apt update
sudo apt install -y cmake gcc g++ libeigen3-dev libtinyxml2-dev curl \
                    gnupg2 liburdfdom-dev liburdfdom-headers-dev \
                    libconsole-bridge-dev libboost-all-dev libnlopt-dev libnlopt-cxx-dev

• kdl-orocos
• kdl_parser
• trac-ik-lib-standalone

Installation

Clone the project repo:

git clone [email protected]:t.pardi/rkdlib.git 

Install:

cd rkdlib/
mkdir build
cd build
cmake ..

If you want to build the examples, use instead:

cmake .. -DBUILD_EXAMPLES=ON

Then:

make -j 4
sudo make install

Getting started

The class offers a simple interface within the namespace RKD.

Here, you can find a snippet of code for runninig your first example!

#include <RKD/Robot.h>

using namespace rkd;

Robot myRobot;

More examples can be found in examples