Center of mass / inertia on a Tree

Hi orocos-users!

I want to compute the center of mass (and later possibly inertia) of a
full kinematic tree of a robot and am mainly working in ROS (electric).
So I came across KDL which I guess should be the most suitable framework
for this. With kdl_parser I constructed a KDL tree from my URDF. Is
there a way to quickly set the kinematic state of the joints based on a
vector of joint angles (ROS JointState)?

From the docs, it seems like after that ArticulatedBodyInertia is what
I should use, but how? Is there some functionality which traverses my
complete tree and computes the inertia? The docs are a little sparse on
how to proceed in my scenario. I also read that the Tree structure is
experimental, is that still the case and how would it affect me?

Best regards,

Armin Hornung
Humanoid Robots Lab, Albert-Ludwigs-Universität Freiburg

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