2024-04-05 13:51:29 +00:00
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2025-01-03 13:42:37 +00:00
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# Copyright 2025 Open Source Robotics Foundation
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2024-04-05 13:51:29 +00:00
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# Distributed under the terms of the BSD license
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{ lib, buildRosPackage, fetchurl, ament-cmake, trac-ik-kinematics-plugin, trac-ik-lib }:
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buildRosPackage {
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pname = "ros-rolling-trac-ik";
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2024-05-10 13:12:06 +00:00
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version = "2.0.1-r1";
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2024-04-05 13:51:29 +00:00
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src = fetchurl {
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2024-05-10 13:12:06 +00:00
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url = "https://github.com/ros2-gbp/trac_ik-release/archive/release/rolling/trac_ik/2.0.1-1.tar.gz";
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name = "2.0.1-1.tar.gz";
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sha256 = "662d15c958553cedd23dadcf7f5ee17cbc7aac5584a09ce38b36b78c66e1227f";
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2024-04-05 13:51:29 +00:00
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};
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buildType = "ament_cmake";
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buildInputs = [ ament-cmake ];
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propagatedBuildInputs = [ trac-ik-kinematics-plugin trac-ik-lib ];
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nativeBuildInputs = [ ament-cmake ];
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meta = {
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description = "The ROS packages in this repository were created to provide an improved
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alternative Inverse Kinematics solver to the popular inverse Jacobian
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methods in KDL. TRAC-IK handles joint-limited chains better than KDL
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without increasing solve time.";
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license = with lib.licenses; [ bsdOriginal ];
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};
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}
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