ROS Noetic 安装KDL与Trac ik
KDL的安装:
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依赖库的安装
$ sudo apt install libeigen3-dev
eigen3库安装于/usr/include下, 为了后续使用, 建立一个软链接
sudo ln -s /usr/include/eigen3/Eigen/ /usr/local/include/
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进入工作空间的src文件夹
git clone https://github.com/orocos/orocos_kinematics_dynamics.git
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进入orocos_kinematic_dynmaic/orocos_kdl/下,新建一个build文件夹,进入build文件夹分别运行三条命令
cmake .. make sudo make install
orocos-kdl库的安装路径为/usr/local/include
TRAC_IK的安装:
bash apt-get install -y ros-noetic-trac-ik-lib ros-noetic-kdl-parser ros-noetic-nlopt libnlopt-dev libnlopt-cxx-dev