A ROS2-based software library for inverse dynamics computation

Class diagram: methods inherited by the concrete implementations from the interface are omitted for brevity getGravityVector: returns g ( q); getDynamicComponents: returns ( H, C q, g) getTorques: returns τ = H (q) q + C (q, q) q + g (q) . As mentioned in Section I-B, this class is derived by three solvers we provide. The KDL-based one is tailored for simulated robots, and discussed in Section II-B2. Two solvers for real robots, specifically UR10 and Franka, are presented in Section II-B3. It is worth highlighting that users in the ROS2 community are allowed to inherit the base class with their own implementations, possibly including the estimated models of other manipulators.