mcrbdynurdf

This library allows to parse an URDF file and create RBDyn structure from it. It is entirely ROS-free.

Note: this package is deprecated, URDF parsing is now available directly in RBDyn

Installing

Ubuntu LTS (16.04, 18.04, 20.04)

You must first setup our package mirror:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can also choose the head mirror which will have the latest version of this package:

curl -1sLf \
  'https://dl.cloudsmith.io/public/mc-rtc/stable/setup.deb.sh' \
  | sudo -E bash

You can then install the package:

sudo apt install libmc-rbdyn-urdf-dev python-mc-rbdyn-urdf python3-mc-rbdyn-urdf

Manually build from source

Dependencies

• tinyxml2
• Eigen (>= 3.0)
• SpaceVecAlg (with Python bindings if needed)
• RBDyn (with Python bindings if needed)
• Cython (>= 0.2) (Python bindings)
• Eigen3ToPython (Python bindings)
• Boost (unit tests)

Building

git clone --recursive https://github.com/jrl-umi3218/mc_rbdyn_urdf
cd mc_rbydn_urdf
mkdir _build
cd _build
cmake [options] ..
make && make intall

CMake options

By default, the build will use the python and pip command to install the bindings for the default system version (this behaviour can be used to build the bindings in a given virtualenv). The following options allow to control this behaviour:

• PYTHON_BINDING Build the python binding (ON/OFF, default: ON)
• PYTHON_BINDING_FORCE_PYTHON2: use python2 and pip2 instead of python and pip
• PYTHON_BINDING_FORCE_PYTHON3: use python3 and pip3 instead of python and pip
• PYTHON_BINDING_BUILD_PYTHON2_AND_PYTHON2: builds two sets of bindings one with python2 and pip2, the other with python3 and pip3
• BUILD_TESTING Enable unit tests building (ON/OFF, default: ON)