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robot: control_msgs | diagnostics | executive_smach | filters | geometry | joint_state_publisher | kdl_parser | robot_state_publisher | ros_base | urdf | urdf_parser_plugin | xacro

Package Summary

The Kinematics and Dynamics Library (KDL) defines a tree structure to represent the kinematic and dynamic parameters of a robot mechanism. kdl_parser provides tools to construct a KDL tree from an XML robot representation in URDF.

  • Maintainer status: maintained
  • Maintainer: Chris Lalancette <clalancette AT osrfoundation DOT org>, Shane Loretz <sloretz AT osrfoundation DOT org>
  • Author: Wim Meeussen <wim AT willowgarage DOT com>, Ioan Sucan <isucan AT gmail DOT com>, Jackie Kay <jacquelinekay1 AT gmail DOT com>
  • License: BSD
  • Bug / feature tracker: https://github.com/ros/kdl_parser/issues
  • Source: git https://github.com/ros/kdl_parser.git (branch: noetic-devel)

parser2.png

What is the KDL parser

If you want to take advantage of the powerful features of the Kinematics and Dynamics Library, the kdl parser provides an easy way to construct a full KDL Tree object. Starting from either a URDF xml description or a Collada xml description of your robot, the kdl parser automatically generates a KDL Tree.

Tutorials

  1. Start using the KDL parser

    This tutorial teaches you how to create a KDL Tree from a URDF file

  2. Démarrer l'utilisation de l'analyseur KDL

    Ce tutoriel vous apprends comment créer un arbre KDL à partir d'un fichier URDF


2025-01-04 15:03