Up:Tutorial?

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Introduction †

The aim of this tutorial is to explain how to use KDL with ROS in SIGVerse.

With KDL, you could use an inverse kinematic solver. So, you could control the arm of a robot.

We show you a demonstration with an example in SIGVerse.

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Requirements †

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Download the package †

Clone the ROS package from github in your ROS workspace. You can clone the entire repository by running :

$ git clone https://github.com/SIGVerse/samples.git

Or you can get the source code here on Github : https://github.com/SIGVerse/samples/tree/master/KDL_ROS

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Build the project †

Go in your ROS workspace and build your project. For example :

$ cd ~/catkin_ws
$ catkin_make

Run this command to initialize KDL node in ROS :

$ source /opt/ros/groovy/setup.sh
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Testing the package †

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