https://github.com/ahundt/grl

Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.
https://github.com/ahundt/grl

atracsys c-plus-plus calibration computer-vision constrained-optimization control driver grl hand-eye-calibration iiwa inverse-kinematics kuka kuka-lbr-iiwa optimization real-time robot robotics ros vrep vrep-plugin

Last synced: 20 days ago
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Robotics tools in C++11. Implements soft real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning, Hand Eye Calibration and Inverse Kinematics integration.

• Host: GitHub
• URL: https://github.com/ahundt/grl
• Owner: ahundt
• License: bsd-2-clause
• Created: 2015-03-28T21:17:16.000Z (over 9 years ago)
• Default Branch: master
• Last Pushed: 2021-10-06T18:13:01.000Z (about 3 years ago)
• Last Synced: 2024-11-02T11:32:19.552Z (about 1 month ago)
• Topics: atracsys, c-plus-plus, calibration, computer-vision, constrained-optimization, control, driver, grl, hand-eye-calibration, iiwa, inverse-kinematics, kuka, kuka-lbr-iiwa, optimization, real-time, robot, robotics, ros, vrep, vrep-plugin
• Language: C++
• Homepage: https://ahundt.github.io/grl/
• Size: 39 MB
• Stars: 155
• Watchers: 22
• Forks: 73
• Open Issues: 68
• Metadata Files:
  • Readme: README.md
  • Changelog: ChangeLog.txt
  • License: COPYING.txt

Awesome Lists containing this project

• awesome-robotics - grl - Generic Robotics Library: Cross platform drivers for Kuka iiwa and Atracsys FusionTrack with optional v-rep and ros drivers. Also has cross platform Hand Eye Calibration and Tool Tip Calibration. (Uncategorized / Uncategorized)

README

        
Generic Robotics Library

=========================

[![Build Status](https://travis-ci.org/ahundt/grl.svg?branch=master)](https://travis-ci.org/ahundt/grl)

The Generic Robotics Library (GRL) has a long term goal of implementing robotics algorithms using generic programming in C++11.

Currently GRL implements C++11 drivers for the new Kuka LBR iiwa arm and hardware integration with [ROS](ros.org) and the [V-REP](http://http://www.coppeliarobotics.com/index.html) robotics simulation software.

[![grl kuka control from linux over Java API demo](https://img.youtube.com/vi/pvs-lG2_K3g/0.jpg)](https://youtu.be/pvs-lG2_K3g)

This demo video is of the KUKA iiwa robot following a path using GRL. What appears to be a "wobbling" motion is actually a highly precise pre-planned path consisting of tiny, nearly concentric circles relative to an object.

If you use GRL in research please consider providing a citation:

[![DOI](https://zenodo.org/badge/33050653.svg)](https://zenodo.org/badge/latestdoi/33050653)

License

=======

Copyright (c) 2015-2016 Andrew Hundt

See COPYING file for license information.

Installation

============

See build and installation instructions given in the [INSTALL](/INSTALL.md) file.

Documentation

=============

[Documentation Website](https://ahundt.github.io/grl/index.html)

See the software manual for details on the software including a demonstration

of how to apply the software tools provided by this package.

Package Content

===============

Path                    | Content description

----------------------- | ----------------------------------------------------------

[BasisProject.cmake][1] | Meta-data used for the build configuration.

[CMakeLists.txt]    [2] | Root CMake configuration file.

[config/]           [3] | Package configuration files.

[data/]             [4] | Data files required by this software.

[doc/]              [5] | Documentation source files.

[example/]          [6] | Example files used for demonstration.

[include/]          [7] | Public header files.

[src/]              [8] | Source code files.

[test/]             [9] | Regression and unit tests.

[1]: /BasisProject.cmake

[2]: /CMakeLists.txt

[3]: /config

[4]: /data

[5]: /doc

[6]: /example

[7]: /include

[8]: /src

[9]: /test