A Pinocchio-based ROS2 Kinematics Interface implementation. This can be used instead of the default KDL implementation shipped with default ROS installations.
Requires pinocchio to be installed: apt install ros-humble-pinocchio.
- Replicate KDL implemenations and capabilities with Pinocchio
- Package as a ROS2 plugin which can be used in place of
kinematics_interface_kdl. - Benchmark and compare performances
- Allow arbitrary frames to be used as base (currently uses root joint from model)
- Add support for floating-base robots
- Add support for continuous joints and other composite joints supported by Pinocchio