mxgrey / RobotKin

A robot kinematics C++ library.

RobotKin

⚠️ All worthwhile features of this library have been migrated into DART. This repo is no longer developed or maintained. Please refer to DART for your kinematics, articulated dynamics, and 3D simulation needs.

((Defunct))

A robot kinematics C++ library.

In order to parse URDFs, compile the dependencies in the following manner :

In RobotKin folder

mkdir libraries/install
cd libraries

# You can set the install path to any you want (e.g /usr/local)
export ROBOTKIN_DEP_INSTALL_PATH=`pwd`/install 
export CMAKE_PREFIX_PATH=$ROBOTKIN_INSTALL_PATH:$CMAKE_PREFIX_PATH

# Set the following for runtime
export LD_LIBRARY_PATH=$ROBOTKIN_INSTALL_PATH/lib:$LD_LIBRARY_PATH

Then :

hg clone https://bitbucket.org/osrf/urdfdom_headers
mkdir urdfdom_headers/build && cd urdfdom_headers/build
cmake -DCMAKE_INSTALL_PREFIX:PATH=$ROBOTKIN_DEP_INSTALL_PATH ..
make install
cd ../..

git clone https://github.com/ros/console_bridge.git
mkdir console_bridge/build && cd console_bridge/build
cmake -DCMAKE_INSTALL_PREFIX:PATH=$ROBOTKIN_DEP_INSTALL_PATH .. 
make install
cd ../..

hg clone https://bitbucket.org/osrf/urdfdom
mkdir urdfdom/build && cd urdfdom/build
cmake -DCMAKE_INSTALL_PREFIX:PATH=$ROBOTKIN_DEP_INSTALL_PATH ..
make install
cd ../..

If you encounter an error about visual_array or collision_array missing in the last step, you probably have ROS Groovy installed and sourced. Try removing it from your ~/.bashrc or ~/.zshrc (you may need to log out and log back in). Personally, I had to resort to manually deleting certain headers from the ROS source tree. Let me know if you get hung up at this stage: [e-mail]. After the above steps are complete, RobotKin should automatically detect the installed packages. Simply run cmake again and recompile.

mkdir build
cmake ..
make
cd ../bin

Run program:

  ./robotTest

This will run a tutorial program that is helpful if you are also looking at the code located at:

  robotKin/test/robotTest.cpp