Pinocchio ROS 2 C++ example

This is a basic example of building a ROS 2 package that uses the Pinocchio library.

Note

Collision checking support currently only works on ROS 2 Humble. See stack-of-tasks/pinocchio#2504 for more information.

To run this example:

docker compose build
docker compose run base

Once you're in the container, you can compile this package:

colcon build
source install/setup.bash

Finally, you can run the example:

ros2 run pinocchio_ros_example pinocchio_example