Rather than using Link objects to represent links and joints for a serial link (e.g. robotic manipulator), this has now been updated to using a series of Joint and RigidBody objects.
Users can now align the joints and links specfied in a URDF with Joint and RigidBody objects respectively
Tests that I've completed
Manually checked calculated kinematic and dynamic values between the new and devel branch
Manually checked calculated kinematic and dynamic values between the new branch and KDL
Brief Summary of Changes
Linkobjects to represent links and joints for a serial link (e.g. robotic manipulator), this has now been updated to using a series ofJointandRigidBodyobjects.JointandRigidBodyobjects respectivelyTests that I've completed