The Generic Robotics Library (GRL) has a long term goal of implementing robotics algorithms using generic programming in C++11.
Currently GRL implements C++11 drivers for the new Kuka LBR iiwa arm and hardware integration with ROS and the V-REP robotics simulation software.
This demo video is of the KUKA iiwa robot following a path using GRL. What appears to be a "wobbling" motion is actually a highly precise pre-planned path consisting of tiny, nearly concentric circles relative to an object.
If you use GRL in research please consider providing a citation:
Copyright (c) 2015-2016 Andrew Hundt
See COPYING file for license information.
See build and installation instructions given in the INSTALL file.
See the software manual for details on the software including a demonstration of how to apply the software tools provided by this package.
| Path | Content description |
|---|---|
| BasisProject.cmake | Meta-data used for the build configuration. |
| [CMakeLists.txt] 2 | Root CMake configuration file. |
| [config/] 3 | Package configuration files. |
| [data/] 4 | Data files required by this software. |
| [doc/] 5 | Documentation source files. |
| [example/] 6 | Example files used for demonstration. |
| [include/] 7 | Public header files. |
| [src/] 8 | Source code files. |
| [test/] 9 | Regression and unit tests. |