Hi all,
I'm trying to extrapolate the jacobian and the matrix for the dynamic form of my arm. The arm is in .xacro file, so I tried to follow this [tutorial](http://wiki.ros.org/kdl_parser/Tutorials/Start%20using%20the%20KDL%20parser) for kdl_parser and [this](http://wiki.ros.org/kdl) for KDL.
But I've some difficulties, I'm not able to understand how to usr kdl_parser. The arm is in a catkin_ws directory, so can I use an external C++ code or I have to use kdl and kdl_parser function in my plugin? What have I to modify in CMakeList and package.xml? (are this two file owned to catkin_ws or to my_arm directory?)
Is there someone who has already use kdl that can help me?
Thank you!
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