KinDynFusion

The KinDynFusion project consists of libraries and YARP devices ueful for running whole body kinematics estimation for humans wearing sensorized suit and shoes equipped with distributed inertial and force torque sensing.

Installation

Dependencies

Please check the dependencies page for the full list of dependencies and latest tested commits for each of the dependencies.

Prerequisites

Please follow the instructions in the installation prerequisites for setting up the environment to launch the KinDynFusion software.

Install KinDynFusion

Clone and build the repository using the following commands.

git clone https://github.com/ami-iit/kindynfusion
cd kindynfusion/src/
mkdir build
cd build
cmake -DCMAKE_BUILD_TYPE=Release \
      -DALLOW_IDL_GENERATION=ON \
      -DCMAKE_INSTALL_PREFIX=<where-you-want-to-install> ..
make && make install

Please replace <where-you-want-to-install> with the desired installation location.

Add the following lines to the .bashrc file:

export KinDynFusion_DIR=<where-you-installed-kindynfusion>
export YARP_DATA_DIRS=${YARP_DATA_DIRS}:${KinDynFusion_DIR}/share/yarp
export LD_LIBRARY_PATH=${LD_LIBRARY_PATH}:${KinDynFusion_DIR}/lib

In order to check, if everything was compiled and installed successfully, we can run the following command:

yarpdev --list | grep WholeBodyKinematics

which should print

[INFO] |yarp.dev.Drivers| Device "WholeBodyKinematicsDevice", available on request (found in <where-you-installed-kindynfusion>/lib/yarp/WholeBodyKinematicsDevice.so library).
[INFO] |yarp.dev.Drivers| Device "WholeBodyKinematicsLogger", available on request (found in <where-you-installed-kindynfusion>/lib/yarp/WholeBodyKinematicsLogger.so library).
[INFO] |yarp.dev.Drivers| Device "WholeBodyKinematicsRemapper", available on request (found in <where-you-installed-kindynfusion>/lib/yarp/WholeBodyKinematicsRemapper.so library).
[INFO] |yarp.dev.Drivers| Device "WholeBodyKinematicsVisualizerDevice", available on request (found in <where-you-installed-kindynfusion>/lib/yarp/WholeBodyKinematicsVisualizerDevice.so library).

System Architecture

The overall architecture and data flow for the whole body kinematics estimation is described in the system-architecture page.

Launching the Estimator

Please check launching whole body kinematics to understand how to launch the estimator.

Parameter Configuration

The description for the configuration of parameters required for several submodules of whole body kinematics estimation is provided in the parameter configuration file.