From Hendrik Skubch at the University of Kassel
Dear ROS community,
we are happy to announce three new ROS repositories:
This stack contains a single package: roscs, which provides C# wrappers for ROS. It does not support the complete ROS functionality, but the parts we deemed most important, namely publish / subscribe, service calls, limited support for parameters and some minor functionality. We are using this under Linux with mono, Windows is not tested and will probably not work.
This stack contains some useful utility libraries, namely:
- cstf, which wraps some tf methods in C#,
- Castor, a utility library for reading and writing configuration files from C++ and C#,
- udp_proxy_generator - Generates multicast proxies for ros topics. It is a very simple approach to a multi master environment, no namespace or topic remappings are done, messages are simply relayed. Given a configuration file, which specifies topics and message types, C++ code for a proxy is generated and compiled.
This stack holds ALICA, a framework to coordinate and control multiple robots. It consists of three packages:
- Planmodeller - an Eclipse-based IDE to model multi-robot behaviour.
- AlicaEngine - an execution layer for the designed programs.
- AlicaClient - a simple monitoring GUI.
At its core, ALICA, similar to SMACH, uses hierarchies of state-automata to define behaviour. In contrast to SMACH, it is geared at teams of robots, and features task and role allocation algorithms and coordinated constraint solving and optimisation facilities.
This is part of an ongoing effort to make the source code of the RoboCup Mid-Size Team Carpe Noctem publicly available. All this software is used on our MSL robots. Documentation will be added to the wiki once indexed.
This video: http://www.youtube.com/watch?v=HhIrhU19PG4 shows the software in action during the Dutch Open 2012 tournament.
Distributed Systems Group
University of Kassel
From Kyle Maroney at Barrett Technology
In advance of ICRA 2012 and the first annual ROSCon, Barrett Technology is happy to announce a ROS repository created and maintained by Barrett Technology for control of the WAM Arm and BH8-280 BarrettHand. Barrett Technology's ROS repository is an abstraction of Libbarrett, a real-time controls library written in C++.
We look forward to contributing to the ROS community, as well as supporting current and future customers.