I am a new user to KDL. We are investigating the use of KDL for a personal robotics program being developed at the company I work for. I have some specific questions about some of the features in KDL that I was hoping some of the developers could answer.
(1) Can we do manipulator dynamics in KDL? I have poked around a little in the documentation but can't seem to find examples for this.
(2) How can we contribute code back? Can we submit patches that will be integrated into the code base?
(3) We were looking at computing the forward kinematics for intermediate link frames in addition to doing it for the end-effector so we can use this for collision checking. How can I access the intermediate frame poses?
Willow Garage Inc.