hrl-kdl

Kinematics and geometry utilities for KDL

See documentation here: http://wiki.ros.org/hrl-kdl

This forks includes support for ROS noetic and python 3.

Installation:

See below for installing:

Clone the hrl_kdl repository in your catkin-ws folder

cd ~/catkin_ws/src/
git clone https://github.com/yanseim/hrl-kdl.git

install
```
cd hrl-kdl
sh install_kdl.sh
```

Usage:

if you want to get jacobian explicitly:

from urdf_parser_py.urdf import URDF
from pykdl_utils.kdl_parser import kdl_tree_from_urdf_model
from pykdl_utils.kdl_kinematics import KDLKinematics

robot = URDF.from_xml_file("/home/srt/ur3_ws/src/control/arm_control/urdf/ur3.urdf") # change urdf path
tree = kdl_tree_from_urdf_model(robot)
kdl_kin = KDLKinematics(robot,"base_link","wrist_3_link") # change ee name
J = kdl_kin.jacobian(q)