jackstarred,github

pinocchio

A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives

RBDL is a C++ library that contains some essential and efficient rigid body dynamics algorithms such as the Articulated Body Algorithm (ABA) for forward dynamics, Recursive Newton-Euler Algorithm (RNEA) for inverse dynamics, the Composite Rigid Body Algorithm (CRBA) for the efficient computation of the joint space inertia matrix and is also able to compute forward dynamics with external contact constraints and collision impulses. Furthermore it has some basic support for forward and inverse kinematics.

realtime_utilities

Helping function for realtime thread

reflexxes

The Reflexxes Motion Libraries. Debian package

reflexxes_controllers

ros_control-based controllers using the reflexxes motion libraries

reflexxes_type2

A ROS package for building reflexxes in a Catkin workspace

ridgeback_ur5_controller

Several controllers to move Ridgeback mobile-robot and UR5 robotic-arm.

rmltypeii

Type II Reflexxes Motion Library

robotica

Mathematica software for DH frames, Forward & Inverse Kinematics, Robot Animations, and Jacobians, etc.

ros_ethercat

Replace pr2_ethercat main loop with one based on ros_control

rosdyn

The goal of the project ROSdyn is to realize a ROS-based package that implement a fully automated procedure able to calibrate the robot dynamics model. The use of ROS ecosystem enable the standardization of several steps of the procedure, such as the messages exchanged between nodes. A further step towards standardization is represented by the use of ROS-I robot drivers that allow a standard access to all the robot information enabling the dynamics model calibration on commercial IR.