Robotics Library

Robotics Library

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The Robotics Library RL is a self-contained C++ library for robot kinematics, motion planning and control.

Robotics Library RL is a robotics library: RL covers mathematics, kinematics, dynamics, hardware abstraction, motion planning, collision detection and visualization. RL is self-contained: It is not a middleware or an open framework, but a well-designed and consistent library. The components of RL are designed top-down, have compatible data types and are completely implemented. RL is platform-independent C++: RL can be run on all machines from real-time patched Linux to Windows desktop PCs. It uses CMake as a build system, may be compiled with GCC and Visual Studio and only depends on platform-independent libraries like Boost, Eigen, CGAL, Coin and SOLID. RL is open source: It is BSD-licensed and free for use in commercial applications. RL is useful: It abstracts from common robotic hardware, implements the standard algorithms. RL is being used by several research projects (JAST, JAHIR, James) and commercially in spin-off companies. Changelog 2013/02 The latest version 0.6.1 is now released on the Launchpad repository, adding our open-source driver for Schunk/Weiss Robotics WSG-50 grippers, complete support for branched kinematics in rl::mdl, and many fixes and unit tests. 2012/10 Fedora is now supported and allows RPM package installation. Thank you, Mary Ellen! 2012/07 Version 0.6 is released, adding better cgal and Bullet collision detection, closed-form inverse kinematics for Mitsubishi and Stäubli robots, unit tests, and demos 2012/06 CMake 2.8.8 backported to Ubuntu 10.04--12.04 for convenience 2012/05 Dependency CGAL 4.0 packaged and Bullet 2.80 with extras (i.e. approx convex decomposition) as static libs on Launchpad 2012/04 In order to prepare the next release, we are packaging the latest Ubuntu dependencies. 2011/06 Version 0.5.1 is released. Major change is our move from IPP to Eigen as a math library.

Getting Started See publications, videos and FAQ: ICRA 2009 Workshop on Open Source Software in Robotics Slides Video of a simple path planning example Video of robot workspace research scenario Read the frequently asked questions Download RL binaries and try out the examples Ubuntu Package Installation is by far the most convenient way to try out RL. You can add the Launchpad respository, install the latest version within your package manager and run the examples. We would even recommend to set up a virtual machine with Ubuntu just for trying out and inspecting RL. Fedora Package Installation is now supported as well. Windows builds can be provided upon request. Just send us an email. Follow the Tutorial and learn how to develop with RL once it is installed Build RL from source on your system Download the latest source files from Sourceforge. Note that from version 0.5 to 0.5.1, we shifted from IPP to Eigen as a maths library, so make sure you get the latest version. Find out what components of RL you need and what libraries they depend on. Follow the building instructions for Windows or Linux. For Ubuntu, you may instead install the Ubuntu package, which may be slightly dated but is the most convenient.

Documentation Frequently Asked Questions Tutorial Components of the Library Installation from source for Windows or Linux, package installation for Ubuntu. API Documentation SourceForge Project Page Launchpad Project Page

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