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robot_math_tools

This package includes my favorite libraries and classes of math and geometry operations for robots.

Includes stripped-down versions of:

  • pyquaternion: An amazing full-featured Python module for representing and using quaternions.
  • modern_robotics: The Python module from the code in "Modern Robotics: Mechanics, Planning, and Control Code Library" which contains the code library accompanying Modern Robotics: Mechanics, Planning, and Control (Kevin Lynch and Frank Park, Cambridge University Press 2017).
  • mathlib: The stand-alone C++ math library developed at the LASA lab of EPFL.

This set of libraries are used to write controllers for the following robots/simulations:

  • RobbieYuri:
  • Melfa Cobot:

System Requirements

  • ROS Indigo in Ubuntu 14.04.
  • ROS Kinetic in Ubuntu 16.04
  • Other distros not tested.

Installation, Dependencies and Compilation

  • Dependencies: Make sure to install the following python dependencies
 pip install numpy

Then do the following steps:

  • In your catkin src directory clone the repository
$ git clone https://github.com/nbfigueroa/robot_math_tools.git
  • Complie
  $ cd ~/catkin_ws
  $ catkin_make
  $ source devel/setup.bash
  $ catkin_make

You might need to source the ./bashrc file and compile again if the first compliation could not find some of the in-house dependencies. If roscd doesn't find the compiled packages run rospack profile.

Contact

Maintainer: Nadia Figueroa (nadiafig @ mit dot edu)

License

  • This code is released under MIT license.