Only released in EOL distros:
Package Summary
This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. For stability reasons, this package is currently locked to revision 31715 of April 26 2010 (C-turtle) and revision 30401 of August 8 2009 (Boxturtle), but this revision will be updated on a regular basis to the latest available KDL trunk. This ROS package does not intend to modify KDL in any way, it simply provides a convenient way to download and compile the library, because KDL is not available from an OS package manager. However, this package might contain some temporary patches to KDL while they are being applied upstream, or while a permanent fix for a problem is being discussed by the KDL community.
- Author: Ruben Smits, Erwin Aertbelien, Wim Meeussen (package)
- License: LGPL
- Repository: ros-pkg
- Source: hg https://kforge.ros.org/geometry/geometry
Package Summary
This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. It is a meta-package that depends on orocos_kdl which contains the c++ version and python_orocos_kdl which contains the generated python bindings
- Author: Ruben Smits, Erwin Aertbelien, Orocos Developers
- License: LGPL
- External website: http://www.orocos.org/kdl
- Source: git http://git.mech.kuleuven.be/robotics/orocos_kinematics_dynamics.git (branch: master)
Package Summary
This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. It is a meta-package that depends on orocos_kdl which contains the c++ version and python_orocos_kdl which contains the generated python bindings
- Author: Ruben Smits, Erwin Aertbelien, Orocos Developers
- License: LGPL
- External website: http://www.orocos.org/kdl
- Source: git http://git.mech.kuleuven.be/robotics/orocos_kinematics_dynamics.git (branch: master)
Package Summary
This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project. It is a meta-package that depends on orocos_kdl which contains the c++ version and python_orocos_kdl which contains the generated python bindings
- Maintainer: Ruben Smits <ruben.smits AT intermodalics DOT eu>
- Author: Ruben Smits, Erwin Aertbelien, Orocos Developers
- License: LGPL
- External website: http://www.orocos.org/kdl
For hydro onward, see orocos_kdl.
What can I use KDL for?
3D frame and vector transformations: KDL includes excellent support to work with vectors, points, frame transformations, etc. You can calculate a vector product, transform a point into a different reference frame, or even change the reference point of a 6d twist. For more information take a look at the geometry documentation on the KDL homepage.
Kinematics and Dynamics of kinematic chains: You can represent a kinematic chain by a KDL Chain object, and use KDL solvers to compute anything from forward position kinematics, to inverse dynamics. For more information take a look at the chain documentation on the KDL homepage.The kdl_parser includes support to construct a KDL chain from a XML Robot Description Format (URDF) file.
Kinematics of kinematic trees: You can represent a kinematic chain by a KDL Chain object, and use KDL solvers to compute forward position kinematics. Currently no other solvers are provided.
KDL examples
See the examples page
Building KDL
First install the external dependencies such as sip4, python, etc.
$ rosdep install kdl
Now build KDL
$ rosmake kdl
The "rosmake" command checks out code from the KDL svn repository (see kul-ros-pkg).
External Documentation
KDL is a 3rd party library that is part of the Orocos project KDL homepage.