kinematics_interface_pinocchio

Pinocchio-based implementation of ros2_control kinematics interface

• C++ API
  • Class Hierarchy
  • File Hierarchy
  • Full C++ API
• Standard Documents
  • CHANGELOG
  • LICENSE
  • PACKAGE
  • README

README

kinematics_interface_pinocchio

A Pinocchio-based ROS2 Kinematics Interface implementation. This can be used instead of the default KDL implementation shipped with default ROS installations.

Requires pinocchio to be installed: apt install ros-humble-pinocchio.

Roadmap

• [x] Replicate KDL implemenations and capabilities with Pinocchio

• [x] Package as a ROS2 plugin which can be used in place of kinematics_interface_kdl.

• [ ] Benchmark and compare performances

• [ ] Allow arbitrary frames to be used as base (currently uses root joint from model)

• [ ] Add support for floating-base robots

• [ ] Add support for continuous joints and other composite joints supported by Pinocchio