The Orocos Kinematics and Dynamics Library (KDL)

Orocos project to supply RealTime usable kinematics and dynamics code, it contains code for rigid body kinematics calculations and representations for kinematic structures and their inverse and forward kinematic solvers.

Meka patch

This is a meka-patched version of the library to allow the robot to modify the weight it carries online.

Prerequisites

sudo apt-get install git cmake python-sip-dev python-sip sip-dev libeigen3-dev libboost-dev

Download

cd ~/catkin_ws/src # This assumes your ROS environnement is configured properly, otherwise, place it anywhere.
git clone https://github.com/ahoarau/orocos_kinematics_dynamics

Install

# Install Cpp
cd orocos_kinematics_dynamics/orocos_kdl
mkdir build;cd build; cmake ..
make -j$(nproc)
sudo make install
# Install Python bindings
cd ../../python_orocos_kdl/
mkdir build;cd build;cmake ..
make -j$(nproc)
sudo make install