Robotics Library

Getting Started

Open source software in robotics (mathematics, kinematics, dynamics, hardware abstraction, visualization, collision detection, motion planning, ...).

• Installation
• API Documentation
• SourceForge Project Page
• ICRA 2009 Workshop on Open Source Software in Robotics Slides (updated)

Components

• RL::MATH
  Mathematics
• RL::UTIL
  Timers, Threads, Mutexes, ...
• RL::XML
  XML Abstraction
• RL::HAL
  Hardware Abstraction
• RL::KIN
  Denavit-Hartenberg Kinematics
• RL::MDL
  Rigid Body Kinematics/Dynamics
• RL::SG
  Scene Graph Abstraction
• RL::PLAN
  Motion Planning

Applications

• COACH
  Visualization Server Example