Hi all,
I tried to convert btw kdl and msg poses,
I believe that the groovy has a couple of bug (see patch)

anyway,
i did not manage to use the module kdlutils.lua
i tried

local kdlutils = require 'kdlutils' -- or local kdlutils = require
'lua.kdlutils'
kdl_frame =kdlutils.msg_to_frame(msg)

since require returns true, i cannot index it, it seems

how i do that ??

As fast solution, I copied the code of the msg_to_frame directly....

---code
msg=rtt.Variable("geometry_msgs.Pose")
--print(pose_msg)
--print(f)
rtt.provides("KDL"):MsgToFrame(pose_msg,f)
--print(pose_msg)
--print(f)

---use the frame f....

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Gianni Borghesan, PhD
Robot Assisted Surgery group
Robotics Research group
KU Leuven,
Department of Mechanical Engineering,
Division of PMA
Room 01.017
Celestijnenlaan 300B, B-3001 Heverlee, Belgium.
Tel: +32 163 29267
Fax: +32 163 22987
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