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RIF-Robotics/kinematics_interface

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kinematics_interface

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This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.

Build status

ROS2 Distro Branch Build status Documentation Released packages
Rolling master Rolling Binary Build
Rolling Semi-Binary Build
API API kdl kinematics_interface
Iron master see above API API kdl kinematics_interface
Humble humble Humble Binary Build
Humble Semi-Binary Build
API API kdl kinematics_interface

Explanation of different build types

NOTE: There are three build stages checking current and future compatibility of the package.

Detailed build status

  1. Binary builds - against released packages (main and testing) in ROS distributions. Shows that direct local build is possible.

    Uses repos file: $NAME$-not-released.<ros-distro>.repos

  2. Semi-binary builds - against released core ROS packages (main and testing), but the immediate dependencies are pulled from source. Shows that local build with dependencies is possible and if fails there we can expect that after the next package sync we will not be able to build.

    Uses repos file: $NAME$.repos

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  • C++ 82.3%
  • CMake 11.8%
  • C 5.9%