# orocos_kinematics_dynamics

**Repository Path**: simonaxi/orocos_kinematics_dynamics

## Basic Information

- **Project Name**: orocos_kinematics_dynamics
- **Description**: This package contains a recent version of the Kinematics and Dynamics Library (KDL), distributed by the Orocos Project.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 2
- **Created**: 2022-02-26
- **Last Updated**: 2023-01-24

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# orocos_kinematics_dynamics

#### 介绍
该软件包依赖于由 Orocos 项目分发的最新版本的运动学和动力学库 (KDL)。 它是一个元包，它依赖于包含 c++ 版本的 kdl 和包含生成的 python 绑定的 pykdl。

#### 软件架构
软件架构说明

![chain.png](http://wiki.ros.org/orocos_kinematics_dynamics?action=AttachFile&do=get&target=chain.png)

http://wiki.ros.org/orocos_kinematics_dynamics

文件内容:
```
orocos_kinematics_dynamics
├── orocos_kdl
│   ├── build
│   ├── CMakeLists.txt
│   ├── cmake_uninstall.cmake.in
│   ├── config
│   ├── COPYING
│   ├── debian
│   ├── doc
│   ├── examples
│   ├── INSTALL
│   ├── KDLConfig.cmake.in
│   ├── KDLConfigVersion.cmake.in
│   ├── manifest.xml
│   ├── models
│   ├── package.xml
│   ├── README
│   ├── src
│   └── tests
├── orocos_kinematics_dynamics
│   ├── CMakeLists.txt
│   └── package.xml
└── python_orocos_kdl
    ├── cmake
    ├── CMakeLists.txt
    ├── doc
    ├── mainpage.dox
    ├── manifest.xml
    ├── package.xml
    ├── PyKDL
    ├── rosdoc.yaml
    └── tests

```

#### 安装教程

1. 下载RPM包

aarch64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-catkin/ros-noetic-ros-orocos_kinematics_dynamics-1.4.0-1.oe2203.aarch64.rpm

x86_64:

wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-catkin/ros-noetic-ros-orocos_kinematics_dynamics-1.4.0-1.oe2203.x86_64.rpm 

2. 安装rpm包

aarch64:

sudo rpm -ivh ros-noetic-ros-orocos_kinematics_dynamics-1.4.0-1.oe2203.aarch64.rpm --nodeps --force

x86_64:

sudo rpm -ivh ros-noetic-ros-orocos_kinematics_dynamics-1.4.0-1.oe2203.x86_64.rpm --nodeps --force

#### 使用说明

依赖环境安装:

sh /opt/ros/noetic/install_dependence.sh

安装完成以后，在/opt/ros/noetic/目录下有如下输出,则表示安装成功

输出:
```
orocos_kdl
├── env.sh
├── include
│   └── kdl
├── lib
│   ├── liborocos-kdl.so -> liborocos-kdl.so.1.4
│   ├── liborocos-kdl.so.1.4 -> liborocos-kdl.so.1.4.0
│   ├── liborocos-kdl.so.1.4.0
│   └── pkgconfig
├── setup.bash
├── setup.sh
├── setup.zsh
└── share
    ├── doc
    └── orocos_kdl
orocos_kinematics_dynamics
├── cmake.lock
├── env.sh
├── local_setup.bash
├── local_setup.sh
├── local_setup.zsh
├── setup.bash
├── setup.sh
├── _setup_util.py
└── setup.zsh

```

#### 参与贡献

1.  Fork 本仓库
2.  新建 Feat_xxx 分支
3.  提交代码
4.  新建 Pull Request


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