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Robotic-Decision-Making-Lab / angler

ROS 2 framework for lightweight autonomous underwater vehicle manipulator systems
https://robotic-decision-making-lab.github.io/angler/
MIT License
11 stars 1 forks source link

[FEATURE]: Replace kinpy with DH parameters or custom solution #20

Closed evan-palmer closed 3 months ago

evan-palmer commented 11 months ago

Feature Type

Changing existing functionality in Angler

Problem Description

Kinpy depends on vtk which has been having some Python installation issues recently and also flat out doesn't support arm64 v8 installation. This makes it a bit challenging to integrate into this project and also limits its applicability to deployment on a real system.

Feature Description

Remove support for kinpy and integrate a custom solution. The custom solution should enable users to load either the DH parameters for their respective manipulator or the URDF.

Alternative Solutions

I am going to create a fork of kinpy for now that doesn't depend on vtk, but this should only serve as a temporary solution until I fully remove support for it.

Additional Context

No response

evan-palmer commented 3 months ago

Closing this in favor of #28