This is a ROS 2 package for using C++ kinematics frameworks in the context of ROS 2 control. A kinematics interface is designed to allow ROS 2 controllers to control robots in Cartesian space. This package also contains a basic implementation of the interface using KDL.
As an open-source project, we welcome each contributor, regardless of their background and experience. Pick a PR and review it, or create your own! If you are new to the project, please read the contributing guide for more information on how to get started. We are happy to help you with your first contribution.
| ROS2 Distro | Branch | Build status | Documentation | Package Build |
|---|---|---|---|---|
| Rolling | master |
  |
API API kdl |
|
| Jazzy | jazzy |
  |
API API kdl |
|
| Humble | humble |
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API API kdl |
The project has received major contributions from companies and institutions listed on control.ros.org