Backup source of KDL with ROS(No. 1)

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Up:[[Tutorial]]

If you have any question, please contact yoann.dutel@outlook.fr

#contents

*Introduction [#l64cca14]

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.

*Requirements [#f3d604ef]

- Ubuntu 32/64 bit PC. (Ubuntu installed on virtual machine is also file)
- SIGServer 2.2.2 or later
- SIGViewer 2.2.0 or later
- ROS : refer to this tutorial [[ROS integration]]
- KDL : refer to this page : http://wiki.ros.org/kdl

** Download the package [#xc8790c9]

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

** Build the project [#q07862eb]

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

** Testing the package [#q07862eb]

Backup source of KDL with ROS (No. 1)