hrl-kdl

Kinematics and geometry utilities for KDL

This forks includes support for ROS noetic and python 3. Make sure to checkout to the 'noetic-devel' branch.

Installing:

See below for installing:

Clone the hrl_kdl repository in your catkin-ws folder

cd ~/catkin_ws/src/
git clone https://github.com/amir-yazdani/hrl-kdl.git

Checkout to the noetic-devel branch
```
cd hrl-kdl
git checkout noetic-devel
```

Install pykd_utils

cd pykdl_utils
python3 setup.py build
sudo python3 setup.py install

Install hrl_geom\

cd ~/catkin_ws/src/hrl-kdl/hrl_geom/
python3 setup.py build
sudo python3 setup.py install

Install urdf_parser and urdfdom-py

sudo apt-get install ros-noetic-urdf-parser-plugin
sudo apt-get install ros-noetic-urdfdom-py