Robotics tools in C++11. Implements real time arm drivers for Kuka LBR iiwa plus V-REP, ROS, Constrained Optimization based planning and Inverse Kinematics integration.
C++ Java CMake Lua C Shell
Latest commit 7697615 Jan 19, 2017 @athundt remove cmake prints


The Generic Robotics Library (GRL) has a long term goal of implementing robotics algorithms using generic programming in C++11.

Currently GRL implements C++11 drivers for the new Kuka LBR iiwa arm and hardware integration with ROS and the V-REP robotics simulation software.

If you use GRL in research please consider providing a citation: DOI


Copyright (c) 2015-2016 Andrew Hundt

See COPYING file for license information.


See build and installation instructions given in the INSTALL file.


Documentation Website

See the software manual for details on the software including a demonstration of how to apply the software tools provided by this package.

Package Content

Path Content description
BasisProject.cmake Meta-data used for the build configuration.
CMakeLists.txt Root CMake configuration file.
config/ Package configuration files.
data/ Data files required by this software.
doc/ Documentation source files.
example/ Example files used for demonstration.
include/ Public header files.
src/ Source code files.
test/ Regression and unit tests.