kdl_parser

The Kinematics and Dynamics Library (KDL) defines a tree structure

to represent the kinematic and dynamic parameters of a robot mechanism. <tt>kdl_parser</tt> provides tools to construct a KDL tree from an XML robot representation in URDF.

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README

KDL Parser

This contains a C++ package for converting from URDF to a representation in KDL.

This was originally part of the ros/robot_model repository. It has been moved to this repo as described by ros/robot_model#195