Ardumatic

Ardumatic is a small forward and inverse kinematics library suitable for use inside Ardupilot.

It uses the FABRIK algorithm to get quickly generate inverse kinematic solutions.

Testing

Ardumatic includes comprehensive testing for both standalone functionality and ArduPilot integration:

Unit Tests

# Run Lua unit tests
busted

SITL Integration Tests

Test the kinematic solver within ArduPilot's Software-in-the-Loop simulator:

# Run SITL integration tests
ARDUPILOT_PATH=/path/to/ardupilot ./tools/run_sitl_tests.sh

For detailed SITL testing information, see SITL_TESTING.md.

All Tests

# Run unit tests
busted

# Run SITL integration tests
ARDUPILOT_PATH=/path/to/ardupilot ./tools/run_sitl_tests.sh

Development

Prerequisites

• Lua 5.1+ (ArduPilot compatible)
• Busted (for unit testing)
• Python 3.6+ (for SITL testing)
• ArduPilot source code (for SITL testing)

Quick Start

# Install dependencies
luarocks install --deps-only

# Run unit tests
busted

# Run SITL integration tests (requires ArduPilot)
ARDUPILOT_PATH=/path/to/ardupilot ./tools/run_sitl_tests.sh

# Lint code
luacheck src/

TODO

• Implement FABRIK solver
• Enable joint constraints when solving
• Add keep-out zones and colission avoidance
• Implement gait generator for n-legged robots

Thanks to

This package couldn't exist without all the great people whose code I was able to read to get my head around what I was trying to do.

• @jmsjr and @alansley for caliko.
• @TheComet for ik
• @EgoMoose for FABRIK (inverse kinematics) and the related Roblox code
• All the amazing folks behind the ArduPilot project.

Github Mirror

This repository is mirrored on Github from it's primary location on my Forgejo instance. Feel free to raise issues and open PRs on Github.

License

This software is licensed under the terms of the HL3-FULL, see the LICENSE.md file included with this package for the terms.

This license actively proscribes this software being used by and for some industries, countries and activities. If your usage of this software doesn't comply with the terms of this license, then contact me with the details of your use-case to organise the purchase of a license - the cost of which may include a donation to a suitable charity or NGO.