Added support for reading turtlebot manipulator urdf and generating associated homogenous transformation matrix.

Generating URDF from xacro for adding new robot support

rosrun xacro xacro -o <target-name.urdf> <path-to-xacro-file.xacro>

This generates urdf. Sometimes you might have to change the package:/ -> relative-path-for-meshes

Installation

This package provides a forward kinematics for simple robots as symbolic functions using casadi. This allows the usage in model predictive control schemes and other trajectory optimization methods.

pip3 install forwardkinematics

Install in editable mode

If you want to install as an editable without the usage of an virtual environment, you must create a setup.py first. This can be done using poetry2setup (pip install poetry2setup) Then you can run

poetry2setup > setup.py
mv pyproject.toml pyproject.toml_BACKUP
pip3 install -e .