[WIP][RobotModel] symbolic robot model calculation framework with pinocchio and casadi

[sugikazu75]

What is this

This is a modeling framework with symbolic expression.
This will be used for dynamics and gradient based optimization.
This PR is based on JSKAerialRobot/aerial_robot_3rdparty#19

Details

• load robot model urdf from rosparameter server.
• pinocchio robot model and data with type of casasdi::SX are created.
• calculate some variables with casadi::SX that provide symbolic calculation.

TODO

• add necessary variables
• consider DesireCoordinate for calculation of each variables. (or remove this system)
• remove hard coded part

Usage

For now, we can use PinocchioRobotModel class like as follows. This variable should be created in node with robot namespace.

boost::shared_ptr pinocchio_robot_model = boost::make_shared<PinocchioRobotModel>();

Or, we can see the overview of the urdf in rosparameter like as follows

rosrun aerial_robot_model pinocchio_test __ns:=dragon