orocos安装_在CPP中使用orocos-kdl和kdl_parser
时间: 2024-03-17 13:42:19 浏览: 35
要在 CPP 中使用 Orocos KDL 和 KDL Parser,需要先安装 Orocos KDL 库和 KDL Parser 库。下面是安装步骤:
1. 安装 Orocos KDL 库:
```
sudo apt-get install liborocos-kdl-dev
```
2. 安装 KDL Parser 库:
```
sudo apt-get install libkdl-parser-dev
```
安装完成后,可以在 CPP 中使用这两个库。使用 Orocos KDL 和 KDL Parser 的示例代码如下:
```cpp
#include <kdl/chain.hpp>
#include <kdl/chainfksolver.hpp>
#include <kdl/chainfksolverpos_recursive.hpp>
#include <kdl/chainjnttojacsolver.hpp>
#include <kdl_parser/kdl_parser.hpp>
int main(int argc, char** argv) {
// Load the robot description from the parameter server.
std::string robot_description;
ros::param::get("robot_description", robot_description);
// Parse the robot description into a KDL tree.
KDL::Tree robot_kdl;
if (!kdl_parser::treeFromString(robot_description, robot_kdl)) {
ROS_ERROR("Failed to construct KDL tree from robot description.");
return 1;
}
// Create a solver for computing the forward kinematics of the robot.
KDL::Chain robot_chain;
robot_kdl.getChain("base_link", "end_effector_link", robot_chain);
KDL::ChainFkSolverPos_recursive fk_solver(robot_chain);
// Compute the forward kinematics of the robot for a given joint configuration.
KDL::JntArray joint_positions(robot_chain.getNrOfJoints());
for (size_t i = 0; i < robot_chain.getNrOfJoints(); ++i) {
joint_positions(i) = i * 0.1;
}
KDL::Frame end_effector_pose;
fk_solver.JntToCart(joint_positions, end_effector_pose);
// Create a solver for computing the Jacobian of the robot.
KDL::ChainJntToJacSolver jac_solver(robot_chain);
// Compute the Jacobian of the robot for a given joint configuration.
KDL::Jacobian jacobian;
jac_solver.JntToJac(joint_positions, jacobian);
return 0;
}
```
这段代码演示了如何使用 Orocos KDL 和 KDL Parser 实现机器人的正运动学和雅克比矩阵计算。需要注意的是,这段代码是在 ROS 中编写的,如果在其他环境中使用,需要根据需要进行修改。