FBML: Floating-Base Multibody Library

Requirements

• ROS 2 (Humble)
• Pinocchio

Installation

# Clone repository
mkdir -p ~/fbml_ws/src
cd ~/fbml_ws/src
git clone https://github.com/MasazumiImai/fbml.git

# Build
cd ~/fbml_ws
colcon build --packages-select fbml --symlink-install
source install/setup.bash

Usage

If you are using FBML from other ROS 2 packages, please add the following dependencies to package.xml and CMakeLists.txt.

package.xml

<depend>fbml</depend>

CMakeLists.txt

find_package(fbml REQUIRED)

add_executable(your_robot_node src/your_robot_node.cpp)
ament_target_dependencies(your_robot_node fbml)

Example of an include in C++

#include <fbml/core.hpp>
#include <fbml/kinematics.hpp>
#include <fbml/dynamics.hpp>

fbml::RobotCore robot("model.urdf");
fbml::Kinematics kin(robot);