Robotics Library
- RL is a robotics library: RL covers mathematics, kinematics, dynamics, hardware abstraction, motion planning, collision detection and visualization.
- RL is self-contained: It is not a middleware or an open framework, but a well-designed and consistent library. The components of RL are designed top-down, have compatible data types and are completely implemented.
- RL is platform-independent C++: RL can be run on all machines from real-time patched Linux to Windows desktop PCs. It uses CMake as a build system, may be compiled with GCC and Visual Studio and only depends on platform-independent libraries like Boost, Eigen, CGAL, Coin and SOLID.
- RL is open source: It is BSD-licensed and free for use in commercial applications.
- RL is useful: It abstracts from common robotic hardware, implements the standard algorithms. RL is being used by several research projects (JAST, JAHIR, James) and commercially in spin-off companies.
- Changelog
- 2013/02 The latest version 0.6.1 is now released on the Launchpad repository, adding our open-source driver for Schunk/Weiss Robotics WSG-50 grippers, complete support for branched kinematics in rl::mdl, and many fixes and unit tests.
- 2012/10 Fedora is now supported and allows RPM package installation. Thank you, Mary Ellen!
- 2012/07 Version 0.6 is released, adding better cgal and Bullet collision detection, closed-form inverse kinematics for Mitsubishi and Stäubli robots, unit tests, and demos
- 2012/06 CMake 2.8.8 backported to Ubuntu 10.04--12.04 for convenience
- 2012/05 Dependency CGAL 4.0 packaged and Bullet 2.80 with extras (i.e. approx convex decomposition) as static libs on Launchpad
- 2012/04 In order to prepare the next release, we are packaging the latest Ubuntu dependencies.
- 2011/06 Version 0.5.1 is released. Major change is our move from IPP to Eigen as a math library.
|
Getting Started
- See publications, videos and FAQ:
- Download RL binaries and try out the examples
- Follow the Tutorial and learn how to develop with RL once it is installed
- Build RL from source on your system
- Download the latest source files from Sourceforge. Note that from version 0.5 to 0.5.1, we shifted from IPP to Eigen as a maths library, so make sure you get the latest version.
- Find out what components of RL you need and what libraries they depend on.
- Follow the building instructions for Windows or Linux.
- For Ubuntu, you may instead install the Ubuntu package, which may be slightly dated but is the most convenient.
|
