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 and a pinocchio-based implementation. Use kinematics_interface_pinocchio plugin when you need high-performance kinematics computations for complex robots, require efficient handling of large kinematic chains, or want to leverage Pinocchio's advanced features such as automatic differentiation and collision detection integration. The plugin supports damped least-squares Jacobian inversion for robust singularity handling.
As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a PR and review it, or create your own! If you are new to the project, please read the contributing guide for more information on how to get started. We are happy to help you with your first contribution.
| ROS2 Distro | Branch | Build status | Documentation | Package Build |
|---|---|---|---|---|
| Rolling | master |
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API API kdl |
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| Kilted | master |
see above |
API API kdl |
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| Jazzy | jazzy |
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API API kdl |
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| Humble | humble |
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API API kdl |
The project has received major contributions from companies and institutions listed on control.ros.org
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