Stark-Z / baxter_kinematics_dynamics

Kinematics and dynamics library for Rethink Baxter, using orocos KDL.

baxter_kinematics_dynamics

This is a kinematics and dynamics library for Rethink Baxter, using orocos KDL. And this package is only tested on Ubuntu 14.04 STL + ROS indigo + Baxter SDK 1.2.0

baxter_kdl

This package contains main functions of this library, including:

• forward kinematics
• inverse kinematics
  • position only IK
  • 6d pose IK
• gravity effort
• inverse dynamics
• external torque estimation
• physical collision checking
  • scalable threshold

baxter_kdl_test

An example package of using baxter_kdl

Prerequisite

• orocos KDL

This library depends on orocos KDL (Kinematics and Dynamics Library). Thus, orocos-kdl package has to be installed.

sudo apt-get install ros-indigo-orocos-*

• Baxter SDK 1.2.0

This package is only tested on Baxter SDK 1.2.0, so you should set up a workstation with Baxter SDK 1.2.0, please refer to Baxter Workstation Setup for more information.

Install

1. cd ~/catkin_ws/src
2. git clone https://github.com/qqfly/baxter_kinematics_dynamics.git
3. cd ~/catkin_ws
4. source ~/[YourBaxterWorkspace]/devel/setup.bash
5. catkin_make

How to use

The demo code can be found in baxter_kdl_test package. This library onle works for real robot.

Author

Qiang Qiu

Shanghai Jiao Tong University

Wechat Official Account: Nao (ID: qRobotics)