hrl-kdl

Kinematics and geometry utilities for KDL

See documentation here:

http://wiki.ros.org/hrl-kdl

http://wiki.ros.org/pykdl_utils

This fork includes support for ROS noetic and Python 3.

Installing:

See below for installation:

• Clone the hrl_kdl repository in your catkin-ws folder

  cd ~/catkin_ws/src/
  git clone https://github.com/ncbdrck/hrl-kdl.git
  

• Install pykd_utils

  cd ~/catkin_ws/src/hrl-kdl/pykdl_utils
  python3 setup.py build
  sudo python3 setup.py install
  

• Install hrl_geom\

  cd ~/catkin_ws/src/hrl-kdl/hrl_geom/
  python3 setup.py build
  sudo python3 setup.py install
  

• Install urdf_parser and urdfdom-py

  sudo apt-get install ros-noetic-urdf-parser-plugin
  sudo apt-get install ros-noetic-urdfdom-py
  

• Build the catkin workspace

  cd ~/catkin_ws
  catkin build