README

kinematics_interface_pinocchio

License ROS Version

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