jhu-lcsr-forks / old_orocos_kinematics_dynamics

Orocos Kinematics and Dynamics Library (KDL)

Orocos Kinematics and Dynamics Library (KDL)

Building KDL

KDL and the Python KDL bindings can either be built normally with CMake, or they can be built in an isolated catkin workspace.

Using KDL

The following can be used to link against KDL in a CMake-based project:

# Find the KDL Package
find_package(Orocos-KDL)
include_directories(${Orocos-KDL_INCLUDE_DIRS})
link_directories(${Orocos-KDL_LIBRARY_DIRS})

# add your target ...

# Link against KDL
target_link_libraries(my_target ${Orocos-KDL_LIBRARIES})

Deprecated Packages

Up until ROS Hydromedusa, the KDL packages were named orocos_kdl and python_orocos_kdl, which resulted from their early incorporation into the ROS ecosystem. This naming convention was different from the naming convention used by other package in the Orocos toolchain, and created inconsistencies in how users referred to the packages when building code.

• kdl (stack) --> orocos_kinematics_dynamics
• orocos_kdl --> kdl
• python_orocos_kdl --> pykdl

The old names will still be supported through ROS Hydromedusa through deprecated wrapper packages.

old_orocos_kinematics_dynamics's Issues

Invalid package names orocos-kdl and python-orocos-kdl

Is there a good reason why you renamed these packages in f5ca4a4?

The only valid characters in package names are alphanumeric characters and the underscore _ according to http://wiki.ros.org/Names#Package_Resource_Names. Although these packages do not use ROS functionality, they still have a package.xml and there might be problems if they are going to be released in bloom?

I am not sure about this, I just remember that there were lots of warning messages in the output of rosdep if there is a package with a - character in the ROS_PACKAGE_PATH: http://answers.ros.org/question/63238/why-does-moveit-depend-on-swig-wx/