9.1-KDL- installation

[Components] KDL- kinematics and dynamics library

Foreword

• One of the outcomes belong orocos European project can be made direct and inverse kinematics calculation

table of Contents

[Components] KDL- kinematics and dynamics library
Foreword
catalog
reference
learning record
installation
build with ROS
modify the source code
Build with cmake
CMake build the sample program!
Next Issue

TOC

reference

wiki page
user manual
KDL examples
Makefile include eigen
g++ link library
CMake to include eigen
CMake finder

Learning Record

installation

build with ROS

* sudo apt-get install libeigen2-dev
* sudo apt-get install ros-indigo-orocos-kdl ros-indigo-python-orocos-kdl
* sudo apt-get install ros-indigo-rtt-ros-integration

Modify the source code

sudo cp -r Eigen /usr/local/include/

In order to be able to include Eigen

• I do not know why, never been able to link successfully, continue to modify makefile, use -l -L argument will not work, or the use of separately compiled source code to use it.

build with cmake

git clone https://github.com/orocos/orocos_kinematics_dynamics.git

And then eventually did not succeed in writing by way of example Makefile to compile the program, I felt orocos deep malice, and finally decided to use CMake to try!

CMake build the sample program!

• Disposable get!

cmake_minimum_required(VERSION 2.8.3)
project(kdl_beginner)

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)

# find packages
find_package(Eigen3 REQUIRED)
find_package(orocos_kdl REQUIRED)

# include dirs
include_directories(${Eigen3_INCLUDE_DIRS}
        ${orocos_kdl_INCLUDE_DIRS})

add_executable(Forward-kinematic-chain-example src/Forward-kinematic-chain-example.cpp)
target_link_libraries(Forward-kinematic-chain-example ${Eigen3_LIBRARIES}   ${orocos_kdl_LIBRARIES} )

Next Issue

• Basic Theory