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‎.github/workflows/README.md

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ROS2 Distro | Branch | Build status | Documentation | Released packages
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:---------: | :----: | :----------: | :-----------: | :---------------:
4-
**Rolling** | [`rolling`](https://github.com/ros-controls/kinematics_interface/tree/rolling) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
4+
**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml?branch=master) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml?branch=master) <br /> [![Rolling Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-source-build.yml?branch=master) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
5+
**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above | [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
6+
**Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above | [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
57
**Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml?branch=master) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml?branch=master) <br /> [![Humble Source Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-source-build.yml?branch=master) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
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### Explanation of different build types

‎.github/workflows/humble-coverage-build.yml

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secrets: inherit
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with:
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ros_distro: humble
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os_name: ubuntu-22.04

‎.github/workflows/humble-pre-commit.yml

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jobs:
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pre-commit:
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uses: ros-controls/ros2_control_ci/.github/workflows/reusable-pre-commit.yml@master
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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [humble]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
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os_name: ubuntu-22.04
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ros_distro: humble

‎.github/workflows/humble-source-build.yml

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ros_distro: ${{ matrix.ROS_DISTRO }}
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ref: master
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ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
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os_name: ubuntu-22.04

‎.github/workflows/rolling-abi-compatibility.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [rolling, jazzy, iron]
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steps:
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- uses: actions/checkout@v4
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- uses: ros-industrial/industrial_ci@master

‎.github/workflows/rolling-binary-build.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [rolling, jazzy, iron]
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ROS_REPO: [main, testing]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}

‎.github/workflows/rolling-coverage-build.yml

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secrets: inherit
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with:
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ros_distro: rolling
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os_name: ubuntu-22.04

‎.github/workflows/rolling-debian-build.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [rolling, jazzy, iron]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
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upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos

‎.github/workflows/rolling-pre-commit.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [iron, jazzy, rolling]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
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os_name: ubuntu-22.04

‎.github/workflows/rolling-rhel-semi-binary-build.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [rolling, jazzy, iron]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
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upstream_workspace: kinematics_interface.${{ matrix.ROS_DISTRO }}.repos

‎.github/workflows/rolling-semi-binary-build.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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ROS_DISTRO: [rolling, jazzy, iron]
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ROS_REPO: [main, testing]
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}

‎.github/workflows/rolling-source-build.yml

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strategy:
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fail-fast: false
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matrix:
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ROS_DISTRO: [rolling, iron]
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include:
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- ROS_DISTRO: iron
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CONTAINER: ""
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OS_NAME: ubuntu-22.04
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- ROS_DISTRO: jazzy
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CONTAINER: ubuntu:24.04
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OS_NAME: ubuntu-latest
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- ROS_DISTRO: rolling
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CONTAINER: ubuntu:24.04
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OS_NAME: ubuntu-latest
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with:
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ros_distro: ${{ matrix.ROS_DISTRO }}
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ref: master
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ros2_repo_branch: ${{ matrix.ROS_DISTRO }}
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os_name: ${{ matrix.OS_NAME }}
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container: ${{ matrix.CONTAINER }}

‎.github/workflows/update-pre-commit.yml

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on:
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workflow_dispatch:
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schedule:
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- cron: '0 0 * * 0' # Run every Sunday at midnight
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- cron: '0 0 1 * *' # Runs at 00:00, on day 1 of the month
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jobs:
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auto_update_and_create_pr:

‎.pre-commit-config.yaml

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# Python hooks
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- repo: https://github.com/asottile/pyupgrade
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rev: v3.15.2
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rev: v3.17.0
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hooks:
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- id: pyupgrade
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args: [--py36-plus]
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args: ["--ignore=D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404"]
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- repo: https://github.com/psf/black
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rev: 24.3.0
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rev: 24.4.2
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hooks:
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- id: black
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args: ["--line-length=99"]
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- repo: https://github.com/pycqa/flake8
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rev: 7.0.0
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rev: 7.1.0
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hooks:
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- id: flake8
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args: ["--extend-ignore=E501"]
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# CPP hooks
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- repo: https://github.com/pre-commit/mirrors-clang-format
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rev: v18.1.3
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rev: v18.1.8
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hooks:
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- id: clang-format
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args: ['-fallback-style=none', '-i']
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# Spellcheck in comments and docs
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# skipping of *.svg files is not working...
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- repo: https://github.com/codespell-project/codespell
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rev: v2.2.6
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rev: v2.3.0
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hooks:
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- id: codespell
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args: ['--write-changes']
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exclude: CHANGELOG\.rst|\.(svg|pyc)$
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- repo: https://github.com/python-jsonschema/check-jsonschema
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rev: 0.28.1
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rev: 0.29.1
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hooks:
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- id: check-github-workflows
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args: ["--verbose"]

‎README.md

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@@ -9,6 +9,7 @@ This is a ROS 2 package for using C++ kinematics frameworks in the context of RO
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ROS2 Distro | Branch | Build status | Documentation | Released packages
1010
:---------: | :----: | :----------: | :-----------: | :---------------:
1111
**Rolling** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | [![Rolling Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-binary-build.yml) <br /> [![Rolling Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml/badge.svg?branch=master)](https://github.com/ros-controls/kinematics_interface/actions/workflows/rolling-semi-binary-build.yml) | [API](http://docs.ros.org/en/rolling/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/rolling/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#rolling)
12+
**Jazzy** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above | [API](http://docs.ros.org/en/jazzy/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/jazzy/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#jazzy)
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**Iron** | [`master`](https://github.com/ros-controls/kinematics_interface/tree/master) | see above | [API](http://docs.ros.org/en/iron/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/iron/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#iron)
1314
**Humble** | [`humble`](https://github.com/ros-controls/kinematics_interface/tree/humble) | [![Humble Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-binary-build.yml) <br /> [![Humble Semi-Binary Build](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml/badge.svg?branch=humble)](https://github.com/ros-controls/kinematics_interface/actions/workflows/humble-semi-binary-build.yml) | [API](http://docs.ros.org/en/humble/p/kinematics_interface/) [API kdl](http://docs.ros.org/en/humble/p/kinematics_interface_kdl/) | [kinematics_interface](https://index.ros.org/p/kinematics_interface/#humble)
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‎kinematics_interface-not-released.jazzy.repos

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repositories:
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## EXAMPLE DEPENDENCY
3+
# <some_ros_package>:
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# type: git
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# url: [email protected]:<some_github_namespace>/<some_ros_package>.git
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# version: master

‎kinematics_interface.jazzy.repos

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repositories:
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ros2_control:
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type: git
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url: https://github.com/ros-controls/ros2_control.git
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version: master

‎kinematics_interface/CHANGELOG.rst

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Changelog for package kinematics_interface
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
1.1.0 (2024-05-20)
6+
------------------
7+
* Use CMake targets for eigen (`#50 <https://github.com/ros-controls/kinematics_interface/issues/50>`_)
8+
* Contributors: Christoph Fröhlich
9+
510
1.0.0 (2023-11-16)
611
------------------
712
* Use a dynamic library instead of header-only (`#21 <https://github.com/ros-controls/kinematics_interface/issues/21>`_)

‎kinematics_interface/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>kinematics_interface</name>
5-
<version>1.0.0</version>
5+
<version>1.1.0</version>
66
<description>Kinematics interface for ROS 2 control</description>
77
<maintainer email="[email protected]">Denis Štogl</maintainer>
88
<maintainer email="[email protected]">Bence Magyar</maintainer>

‎kinematics_interface_kdl/CHANGELOG.rst

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Changelog for package kinematics_interface_kdl
33
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
44

5+
1.1.0 (2024-05-20)
6+
------------------
7+
* Read base parameter in initialize function (`#73 <https://github.com/ros-controls/kinematics_interface/issues/73>`_)
8+
* Use CMake targets for eigen (`#50 <https://github.com/ros-controls/kinematics_interface/issues/50>`_)
9+
* Contributors: Bence Magyar, Christoph Fröhlich
10+
511
1.0.0 (2023-11-16)
612
------------------
713
* 🤔 Remove compile warnings and unify for-loop syntax. (`#15 <https://github.com/ros-controls/kinematics_interface/issues/15>`_)

‎kinematics_interface_kdl/package.xml

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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
33
<package format="3">
44
<name>kinematics_interface_kdl</name>
5-
<version>1.0.0</version>
5+
<version>1.1.0</version>
66
<description>KDL implementation of ros2_control kinematics interface</description>
77
<maintainer email="[email protected]">Bence Magyar</maintainer>
88
<maintainer email="[email protected]">Denis Štogl</maintainer>

‎kinematics_interface_kdl/src/kinematics_interface_kdl.cpp

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2727
{
2828
// track initialization plugin
2929
initialized = true;
30+
31+
// get parameters
32+
std::string ns = !param_namespace.empty() ? param_namespace + "." : "";
3033

3134
std::string robot_description_local;
3235
if (robot_description.empty())
3336
{
3437
// If the robot_description input argument is empty, try to get the
3538
// robot_description from the node's parameters.
3639
auto robot_param = rclcpp::Parameter();
37-
if (!parameters_interface->get_parameter(param_namespace + "robot_description", robot_param))
40+
if (!parameters_interface->get_parameter(ns + "robot_description", robot_param))
3841
{
3942
RCLCPP_ERROR(LOGGER, "parameter robot_description not set in kinematics_interface_kdl");
4043
return false;
@@ -46,8 +49,6 @@ bool KinematicsInterfaceKDL::initialize(
4649
robot_description_local = robot_description;
4750
}
4851

49-
// get parameters
50-
std::string ns = !param_namespace.empty() ? param_namespace + "." : "";
5152
// get alpha damping term
5253
auto alpha_param = rclcpp::Parameter("alpha", 0.000005);
5354
if (parameters_interface->has_parameter(ns + "alpha"))
@@ -57,16 +58,28 @@ bool KinematicsInterfaceKDL::initialize(
5758
alpha = alpha_param.as_double();
5859
// get end-effector name
5960
auto end_effector_name = rclcpp::Parameter("tip", "MISSING_END_EFFECTOR_NAME");
60-
if (parameters_interface->has_parameter(ns + "tip"))
61+
if (parameters_interface->has_parameter(param_namespace + "tip"))
6162
{
6263
parameters_interface->get_parameter(ns + "tip", end_effector_name);
6364
}
6465

6566
// create kinematic chain
6667
KDL::Tree robot_tree;
6768
kdl_parser::treeFromString(robot_description_local, robot_tree);
68-
root_name_ = robot_tree.getRootSegment()->first;
69-
if (!robot_tree.getChain(root_name_, end_effector_name.as_string(), chain_))
69+
70+
// get root name
71+
auto base_param = rclcpp::Parameter();
72+
if (parameters_interface->has_parameter(ns + "base"))
73+
{
74+
parameters_interface->get_parameter(ns + "base", base_param);
75+
root_name_ = base_param.as_string();
76+
}
77+
else
78+
{
79+
root_name_ = robot_tree.getRootSegment()->first;
80+
}
81+
82+
if (!robot_tree.getChain(root_name_, end_effector_name, chain_))
7083
{
7184
RCLCPP_ERROR(
7285
LOGGER, "failed to find chain from robot root %s to end effector %s", root_name_.c_str(),

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