A Kinematic Solver for Baxter Robot in C++.
Baxter cppKDL is a C++ library that offers forward kinematics and inverse kinematic calculation. We got inspired by Baxter_pyKDL and tried to build a similar library for C++ users. It aimed to reduce the difficulty of using orocos KDL for the kinematic and dynamic analysis of Baxter in C++.
This library depends on orocos KDL(Kinematics and Dynamics Library). Thus, orocos-kdl package has to be installed. Please refer to [http://www.orocos.org/kdl/installation-manual] for more information.
$ cd ~/ros_ws/src
$ git clone https://github.com/xwying/Baxter_cppKDL.git
$ cd ~/ros_ws
$ source ./baxter.sh
$ catkin_make
- baxter_kinematics(limb)
Arguments:limb(required), it could be 'left' or 'right'.
Description: Initialize the class with specific limb.
- forward_kinematics(result, joint_value(optional))
Arguments: result(array)(required), joint_value(array)(optional)
Description: Solves the forward kinematics, if the joint value is unspecified, it will read the current joint angle from Baxter. The result will be written to result_array.
- inverse_kinematics(result, position, orientation(optional), seed(optional))
Arguments:
result(array)(required)
position(array)(required) - Cartesian Position, Orientation (optional) [x, y, z]
orientation(array)(optional) - Quaternion Orientation [i, j, k, w]
seed(array)(optional) - Seeded joint angles for solver. Searchs out from seeded joint angles for IK solution [s0, s1, e0, e1, w0, w1, w2]
Description: Solves the inverse kinematics using, providing joint angles given a Cartesian pose. The result will be written to result_array.
We also wrote an Example about how to use this libray, please refer to Baxter_cppKDL_Example repository.
We would like to express our great gratitude to Dr.Sina Parastegari for helping us come up with ideas and giving us a lot of valuable suggestions.