Kinematics and geometry utilities for KDL
See documentation here:
http://wiki.ros.org/pykdl_utils
This fork includes support for ROS noetic and Python 3.
See below for installation:
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Clone the hrl_kdl repository in your catkin-ws folder
cd ~/catkin_ws/src/ git clone https://github.com/ncbdrck/hrl-kdl.git
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Install pykd_utils
cd ~/catkin_ws/src/hrl-kdl/pykdl_utils python3 setup.py build sudo python3 setup.py install
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Install hrl_geom\
cd ~/catkin_ws/src/hrl-kdl/hrl_geom/ python3 setup.py build sudo python3 setup.py install
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Install urdf_parser and urdfdom-py
sudo apt-get install ros-noetic-urdf-parser-plugin sudo apt-get install ros-noetic-urdfdom-py
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Build the catkin workspace
cd ~/catkin_ws catkin build