Awesome
Pinocchio ROS/catkin example
This example demonstrates how to use Pinocchio in a catkin package. Pinocchio is released as a 3rd-party CMake package into ROS Kinetic, Melodic, and Noetic and can be installed using sudo apt install ros-$ROS_DISTRO-pinocchio
.
To find Pinocchio:
find_package(pinocchio REQUIRED)
and use:
target_link_libraries(${PROJECT_NAME} pinocchio::pinocchio)
This example is built on GitHub Actions for Melodic and Noetic.
Include order
When including a ROS header, e.g. ros/ros.h
, compilation errors may occur. This is due to different requirements for BOOST_MPL_LIMIT_LIST_SIZE
between ROS and Pinocchio. To avoid this error, make sure to always include pinocchio/fwd.hpp
before any other header.