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Embeding KDL within Gazebo plugin


#1

For controlling a 6-d.f. robotic arm I need to make the inverse kinematics maths within a plugin. I installed KDL and Eigen2 and 3 but at runtime (I used an example source code taken from KDL org) I get an error message like, symbol not found -random letters-chain-random letters-. Questions: what kinematics library, most compatible with Gazebo’s plugins, should I use? How to install/link the kinematics library with Gazebo’s plugins?


#2

Sounds like you have a linking error. You should be able to use KDL with Gazebo. Chances are you just need to include the correct libraries in your CMake or Makefile.