Questions tagged [kdl]

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Using KDL to calculate a custom Jacobian for 5 cartesian DOF

I want to calculate the Jacobian of a robot system while I want to restrict the rotational change of the pose to only the unit vector of the relative rotation, which essentially says that I don't ...
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There is no kld folder in humble/include, but tf2_geometry_msgs.hpp includes "kdl/frames.hpp". What should I do?

I use tf2 in my Humble ROS node. I get the following error message when I build it. ...
yazou's user avatar
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Getting preferred (elbow-up/down) IK solution in PyKDL

I am using PyKDL to compute IK solutions for the UR3e arm. However, as we know, multiple solutions are available for IK of the 6-DoF arm, and I need to identify the preferred one. Industrial arms have ...
ravi's user avatar
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How to calculate error for inverse kinematics?

I am implementing inverse kinematics on a robot, and I am confused about how to calculate error from my desired pose to my current estimated pose. Both are orocos-kdl frames that consist of a 3x3 ...
Saveer Jain's user avatar
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Error when initializing trac_ik on Noetic

Hi! I have used TRAC-IK on ROS Melodic and Kinetic and everything works fine. However, when I ported the same code to ROS Noetic, I found that TRAC-IK could not be initialized, i.e., I got this error <...
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KDL problem with cmake after complete removal

I have removed all the orocos-kdl files from ubuntu by sudo rm -rf $ (locate orocos-kdl), then I have followed the installation instructions and installed orocos-...
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1 answer
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What are the recent (newest) FK, IK solvers?

Hi, colleagues! Please advise me, what is the newest ROS packages for solving forward and inverse robot arm kinematics. Several years ago I tested OROCOS KDL. Is it actual in using with Noetic? ...
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20 views

ROS2 Eloquent - KDL - How do I get 'live' (Global) Joint Axis information?

Ubuntu 18.04 ROS2 Eloquent C++ TF KDL URDF robot_state_publisher (but the Foxy version!) ###Setup I am running ROS2 Eloquent, but I copied the Foxy version of the robot_state_publisher from github to ...
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Newest version of orocos kdl

Hi everyone I tried to use the inverse dynamics solver for trees (documentation) from the kinematis and dynamics library (kdl). I have installed the newest version of kdl with : sudo apt install ros-...
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1 answer
73 views

Failed to build tree: child link of joint not found

I am trying to parse the urdf file of the ur3e robot (in order to in the end create kdl tree from it and get jacobians transforms and stuff). I did the same thing as described in Tutorial. When I ...
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1 answer
7 views

How to get KDL solver to solve for 6D, and not 3D only

Hi all, I am trying to use KDL to calculate the inverse kinematics of a UR5 robot. I am using something like this ...
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Define KDL tree structure in C++

This question is not completely related to ROS. However since KDL is used heavily inside ROS, I am requesting and posting here. I have a URDF file, which I could parse and build KDL tree using ...
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What is the correct way to introduce a dummy link in URDF?

I am trying to simulate my mobile robot with a 5DOF arm. I came across the IKFast tutorial which mentions that I need a dummy link in my URDF. However, I am confused as to how to introduce this dummy ...
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1 answer
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can't call member without object?

i'm using ros kinetic. ...
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1 answer
12 views

undefined reference to KDL::Rotation::Quaternion

I am using orocos toolchain 2.9, ros kinetic, ubunt u16. ...
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1 answer
28 views

how does KDL ChainDynParam and its JntToGravity actually work?

Hello! Could anyone share some tips and tricks? I've found that gravity should be 0, 0, -2 * 9.81 and this is strange. Another problem is that JntToGravity doesn't account for last chain link. I'm ...
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1 answer
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using kdl_parser_py

Hello! I've created a ros package with kdl_parser_py dependency. Now when I do catkin_make I get the following results: ...
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1 answer
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From URDF to forward kinematics and modifying the urdf

In python I was able to read in a urdf calculate the end effector pose coming from joint angles and later manipulating the urdf by accessing the urdf.joints directly: ...
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1 answer
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Generating IK solution for use in MoveIT for 5 DOF arm

I am working on a custom 5 DOF arm(image at the bottom). I have generated the URDF, the MoveIt configs etc for it. I want to have the basic IK, planning and collision detection features of MoveIt. ...
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1 answer
68 views

MoveIt Planning and Execution Fails

Hi, I am facing some issues with MoveIt. I have a 6 DOF robot and I have created the moveit_config package for it. I have also followed this tutorial and I am able ...
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1 answer
6 views

Implementing a cartesian controller for teleoperation

Hi, I plan to implement a cartesian controller for controlling 7 dof arm via some haptic device. I found JT cartesian controller in pr2_mechanisms package that could be utilized for this purpose. But ...
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1 answer
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Access to the joints cartesian position from KDL chain

Hello, for my project I have to know the cartesian joint position, and possibly also the orietation. I have my chain created using KDL and DH parameter. There is a possibility to access to that ...
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What can I do to install kdl?

Hi everyone, I'm traying to install kdl but I'm having some problems. I followed this site link and when I tried to write "rosdep install kdl" I had the following error: ...
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1 answer
11 views

How to command velocity in MoveIt!

Hello, I'm trying to command an arm in MoveIt! using a 3D mouse. I'm not working with real hardware, or gazebo, its all using MoveIt! So far I am able to get the current joint positions of the robot, ...
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1 answer
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kdl or orocos_kdl from electric to indigo

hi there, i'm new to ros. my friend has ros files with ros-electric structure and now i want to use it with indigo.. and now i have problem with kdl or ...
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1 answer
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Empty transforms using Robot State Publisher

Hi guys, I'm trying to broadcast moving joint states using my robot state publisher. I echoed the topic on which I broadcast my state, all I get is : ...
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2 answers
7 views

Creating ikfast solution cpp for nao

Hi, I am developing on Ubuntu 14.04 and indigo distro working with the Nao robot (I know that this ubuntu version-distro combo still has many issues, however I am stuck with it due to hardware ...
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1 answer
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URDF compositional complexity

I'm in the process of creating a URDF description for my quadruped robot. I have a bunch of bioloids frames and motor models but if I define the leg chains using them I end up with a bunch of fixed ...
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1 answer
5 views

KDL IKSolver (Only for Destination Orientation)

I want to use KDL for inverse kinematics calculations of 5 axis CNC machines. 5 axis CNC machines has 2 rotational axis and 3 translational axes. I am going to define kinematics chain in KDL library ...
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1 answer
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IK Solver for a robot

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1 answer
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KDL for a 21 dof robot

Hi, I work with the kdl, but i dont know how to determine the angle Limits. Someone an idea? Thanks Originally posted by Dante on ROS Answers with karma: 21 on 2014-06-16 Post score: 0
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2 answers
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KDL Kinematics Solver Limitations

I'm working on integrating a robot model consisting of 1 DOF revolute and prismatic joints with moveit and have made a simplified example to make it easier to break down the problems: https://github....
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1 answer
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Problem with non-existent package 'kdl'

I made the ros_package "cob_people_detection" in groovy and I got an error. ...
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2 answers
8 views

ROS Answers SE migration: IK with KDL

Hi, everyone! I have a similar problem and I solved it like described in this topic ros-users. Program works fine, but when I try calculate joints values more different than inital values, IK solver ...
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2 answers
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KDL, undefined reference to KDL::Chain

Hello everyone! I am having problems when trying to compile with rosmake a KDL example (the one found in the KDL website). I always get this output when doing rosmake undefined reference to `KDL::...
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1 answer
7 views

Measuring force of tip using Jacobian function in KDL

Hi, I understand from here that you can use the Jacobian function from the KDL library to calculate a the torque to input for a desired force at the tip. i.e. Torque = Jac(j,i)*Force However, does ...
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1 answer
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KDL iterative IK solver joint angles not normalized

I'm using the arm_kinematics_tools package for solving the IK of a 6DOF arm. Everything is working fine, with the little caveat that the returned joint angles are not normalized. An example: ...
Stefan Kohlbrecher's user avatar
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1 answer
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Is there any docs about the principle of IK provided by KDL?

recently i'm using the inverse kinematics(IK) service provided by KDL. it works great! but i want to know its principles. is there any docs, papers about this? thanks in advance. Originally posted by ...
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1 answer
3 views

Fuerte - kdl_conversions package missing

I recently downloaded the latest arm_navigation (from https://kforge.ros.org/armnavigation/armnavigation) for my recent Fuerte install. However when I attempt to build the ...
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2 answers
32 views

kdl Inverse Kinematics Solver

Hi, We are trying to solve inverse kinematics with the kdl lib, which is included in ROS. We followed the instruction from the homepage of kdl and initialized the solvers. This working very well, but: ...
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1 answer
1 view

Arm_navigation/kinematics for simple arms

Hi everybody, I'm currently working with the arm_navigation suite in combination with a 7 DOF manipulator. Now, I would like to make it work with a much simpler manipulator, in my case with 2 DOF. ...
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1 answer
15 views

base_link to world transform

Greetings, In a recent conversion from diamondback to electric, I noticed that my tf state publisher had stopped converting from 'base_link' frame to 'world' frame. With no changes in my own tf ...
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1 answer
3 views

performance comparison of math libraries

I was wondering if anyone has benchmarked the performance of the commonly used math libraries in the ROS community such as the KDL, Bullet & Eigen. In my work, I have to do hundreds of thousands ...
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1 answer
8 views

Is a dummy URDF joint for use with kdl kinematic chains recommended for creating a tool point?

(Edited to refer more specifically to URDF with KDL) I'm using IK from KDL in combination with URDF models recently and noticed that in trying to solve for a tool point I seem to need to have a dummy (...
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2 answers
12 views

Inverse kinematics solver

Hi, all, I need to select an IK solver for a 5dof manipulator. I took a look at the IK solver in ROS. There seems at least two IK solvers. One is KDL which use extensively in arm_kinematics and ...
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2 answers
5 views

ROS Answers SE migration: KDL for arm

I'm trying to build a KDL representation of an arm. I am confused by what kind DH used. One kind is rotating z then rotating x axis. Another is rotating x then rotating z axis. My model is the latter. ...
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