Stack List

The following is an auto-generated list of ROS stacks that are currently available for use.

ROS

ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.

The ROS runtime "graph" is a peer-to-peer network of processes that are loosely coupled using the ROS communication infrastructure. ROS implements several different styles of communication, including synchronous RPC-style communication over Services, asynchronous streaming of data over Topics, and storage of data on a Parameter Server. These are explained in greater detail in our Conceptual Overview.

arm_navigation

The arm navigation stack contains the action/behavior used to execute collision free motion planning and control for a robot arm manipulator. Included in this stack are the messages required for an action interface that can be used to specify and abort goals for the move_arm action. An implementation for arm navigation on the PR2 robot can be found in the pr2_arm_navigation stack.

arm_planning_control

The arm_planning_control stack contains packages that can be used to process plans from a motion planner and refine and pass them on to controllers. The stack includes packages that can smooth trajectories, add velocity and acceleration information to trajectories and execute the trajectories using an action interface.

art_vehicle

ROS support for the Austin Robot Technology autonomous vehicle.

articulation

articulation

bosch_common

Common code used by Bosch packages

  • Author: Maintained by Charles DuHadway
  • License: BSD
  • Packages: geom

bosch_demos

A collection of demos for Bosch stacks and packages.

bosch_drivers

A collection of hardware drivers in use at Bosch RTC.

camera_drivers

This stack contains drivers for a variety of cameras, and some associated tools.

camera_drivers_experimental

camera_drivers_experimental

cmuipc

Packages for communicating with legacy CMU IPC systems

  • Author: Maintained by Erik Karulf
  • License: BSD
  • Packages: gcm, ipc

cob3_apps

cob3_apps

cob3_common

cob3_common

cob3_driver

cob3_driver

cob3_extern

cob3_extern

cob3_simulation

cob3_simulation

collision_environment

collision_environment

common

A set of code and messages that are widely useful to all robots. Things like generic robot messages (i.e., kinematics, transforms), a generic transform library (tf), laser-scan utilities, etc.

common_msgs

common_msgs contains messages that are widely used by other ROS packages. These includes messages for actions (actionlib_msgs), diagnostics (diagnostic_msgs), geometric primitives (geometry_msgs), robot navigation (nav_msgs), and common sensors (sensor_msgs), such as laser range finders, cameras, point clouds.

communication

communcation

  • Author: Maintained by Dan Lazewatsky
  • License: BSD
  • Packages: skype_bridge

diagnostics

Packages related to gathering, viewing, and analyzing diagnostics data from robots.

driver_common

The driver_common stack contains classes and tools that are useful throughout the driver stacks. It currently contains:

  • dynamic_reconfigure: A dynamic reconfiguration system to allow node parameters to be changed without restarting the node.
  • driver_base: A base class for sensors to provide a consistent state machine (retries, error handling, etc.) and interface.
  • timestamp_tools: Classes to help timestamp hardware events.

executive_trex

trex

exploration

A 2D exploration library that builds on top of the 2D navigation stack provided by Willow Garage.

  • Author: Maintained by Charles DuHadway
  • License: BSD
  • Packages: explore

foote_photo_management

Currently an interface to picasa web albums.

  • Author: Tully Foote/tfoote@willowgarage.com
  • License: LGPL
  • Packages: picasaweb_sync

geometry

The basic geometric and math libraries used in ros.

image_common

Common code for working with images in ROS.

image_pipeline

image_pipeline fills the gap between getting raw images from a camera driver and higher-level vision processing.

image_transport_plugins

A set of plugins for publishing and subscribing to sensor_msgs/Image topics in representations other than raw pixel data. For example, for viewing a stream of images off-robot, a video codec will give much lower bandwidth and latency. For low frame rate tranport of high-definition images, you might prefer sending them as JPEG or PNG-compressed form.

imu_drivers

A stack for any drivers relating to Inertial Measurement Units (IMU).

joystick_drivers

This stack contains a ROS node to interface with joysticks, and drivers for joysticks that are not well supported by a common Linux distribution.

kinematics

This stack contains a set of kinematics messages and services that can be used for kinematic computation.

kinematics_pr2

kinematics for the PR2 - a set of forward and inverse kinematics implementation for the PR2.

laser_drivers

This stack contains drivers for laser rangefinders, including Hokuyo SCIP 2.0-compliant and SICK models.

laser_pipeline

Libraries from processing laser data, including converting laser data into 3D representations.

manipulation_common

Common dependencies for manipulation-related capabilities, including message definitions and lower-level libraries

motion_planners

motion_planners

motion_planning_common

This stack contains motion planners and supporting infrastructure.

motion_planning_environment

The motion_planning_environment stack contains packages that can be used to monitor the world and the state of the robot for collisions. It contains two packages: planning_environment which contains the monitors and planning_environment_msgs which contains the messages and services that can be used for collision checking, adding and clearing objects and monitoring of the robot state and trajectories.

motion_planning_visualization

motion_planning_visualization

nao

nao - Stack containing some useful ROS nodes for the Nao robot. This stack provides joystick teleoperation, odometry, joint state, and a basic robot model for Nao. Files are available at http://code.google.com/p/alufr-ros-pkg/, documentation at http://www.ros.org/wiki/nao. See README.txt for more info.

navigation

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base.

navigation_experimental

Experimental features for future releases of the navigation stack.

  • Author: Maintained by Eitan Marder-Eppstein
  • License: BSD
  • Packages: assisted_teleop
Newly proposed, mistyped, or obsolete stack. Could not find "nodelets" in rosdoc: http://ros.org/doc/api/nodelets/stack.yaml

openrave_planning

These are OpenRAVE-related packages.

orocos

Packages to support Orocos/ROS integration.

phidgets

This stack contains the C API for Phidgets as well as a C++ wrapper and various ROS nodes utilizing the C++ Wrapper.

physics_ode

Open Dynamics Physics Engines for Simulation and Planning (Collision Detection).

  • Author: Maintained by John Hsu
  • License: Boost Software License,LGPL,LGPL, Boost Software License
  • Packages: opende

point_cloud_perception

The point_cloud_perception stack contains algorithms and tools that deal with 3D point cloud data from a variety of different sensing devices.

power_supplies

power_supplies

pr2

pr2

pr2_apps

Basic applications for the PR2 robot

pr2_arm_navigation

This stack contains the launch files for arm navigation with the PR2 robot arms.

pr2_arm_navigation_apps

pr2_arm_navigation_app

  • Author: Maintained by Sachin Chitta
  • License: BSD
  • Packages: pr2_3dnav

pr2_calibration

Provides a toolchain running through the robot calibration process. This involves capturing pr2 calibration data, estimating pr2 parameters, and then updating the PR2 URDF. This stack is very unstable. Expect many API changes.

pr2_common

URDF description of the robot kinematics and dynamics, 3D models of robot components, information required for gazebo to simulate the PR2, and messages specific to the PR2 such as detailed information about its power board and fingertip pressure sensors.

pr2_common_actions

pr2_common_actions

pr2_controllers

Contains the controllers that run in realtime on the PR2 and supporting packages.

pr2_doors

The pr2_doors stack provides the building blocks and integration to allow the PR2 to autonomously detect and open doors.

pr2_ethercat_drivers

This stack contains drivers for the ethercat system and the peripherals that connect to it: motor control boards, fingertip sensors, texture projector, hand accelerometer.

pr2_gui

Contains GUI tools for working with PR2s.

  • Author: Maintained by Josh Faust (jfaust@willowgarage.com)
  • License: BSD
  • Packages: pr2_dashboard

pr2_kinematics

This stack contains an implementation of kinematics for the PR2 robot.

pr2_kinematics_with_constraints

This stack contains an implementation of kinematics for the PR2 robot arms. The implementation can currently compute collision free position inverse kinematics for the PR2 aarms.

pr2_mechanism

The pr2_mechanism stack contains the infrastructure to control the PR2 robot in a hard realtime control loop. The main interface to packages in this stack is through C++, but it is possible to interact with controllers through a ROS API. While the stack is currently aimed at controlling the PR2 robot, it should work on most force-controlled robots.

pr2_navigation

The pr2_navigation stack holds common configuration options for running the navigation stack on a PR2 robot. The packages in this stack are used by many PR2-specific applications that use planar navigation.

pr2_navigation_apps

This stack holds a collection of navigation applications that can be run on the PR2 robot.

pr2_plugs

The pr2_plugs stack provides the low level actions for autonomously plugging the PR2 into a standard wall outlet.

pr2_power_drivers

Power drivers for the PR2 robot.

pr2_robot

This stack collects PR2-specific components that are used in bringing up a robot.

pr2_simulator

PR2-specific simulation components. These include plugins and launch scripts necessary for running PR2 in simulation.

pr2_web_apps

This stack contains core web apps that are shipped with a PR2.

prairiedog

This includes all of the CU Boulder prairiedog packages

robot_calibration

Provides tools estimating robot kinematics and sensor locations. Also provides helper libraries for capturing calibration datasets on a robot. This stack is still very unstable. Expect many API changes.

robot_model

robot_model contains packages for modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF). The core package of this stack is urdf, which parses URDF files, and constructs an object model (C++) of the robot.

ros

ROS is an open-source, meta-operating system for your robot. It provides the services you would expect from an operating system, including hardware abstraction, low-level device control, implementation of commonly-used functionality, message-passing between processes, and package management. It also provides tools and libraries for obtaining, building, writing, and running code across multiple computers.

The ROS runtime "graph" is a peer-to-peer network of processes that are loosely coupled using the ROS communication infrastructure. ROS implements several different styles of communication, including synchronous RPC-style communication over Services, asynchronous streaming of data over Topics, and storage of data on a Parameter Server. These are explained in greater detail in our Conceptual Overview.

ros_experimental

Experimental packages for ROS core system development.

ros_pkg_tutorials

ros_pkg_tutorials is a stack for teaching different aspects of ros-pkg.

ros_tutorials

ros_tutorials contains packages that demonstrate various features of ROS, as well as support packages which help demonstrate those features.

rwi

Drivers for the robots produced by Real World Interface, Inc.

  • Author: Maintained by David V. Lu/davidlu@wustl.edu
  • License: BSD
  • Packages: ptu46, rflex

semantic_mapping

These are packages that primarily process laser / range data.

  • Author: Radu Bogdan Rusu rusu@willowgarage.com, Marius Muja mariusm@willowgarage.com
  • License: BSD,LGPL
  • Packages: point_cloud_mapping

simulator_gazebo

Wrappers for using ROS with the Gazebo simulator.

simulator_stage

2D simulation using the Stage multi-robot simulator.

  • Author: Maintained by Brian Gerkey
  • License: GPL
  • Packages: stage

slam_gmapping

slam_gmapping contains the gmapping package, which provides SLAM capabilities. GMapping is a Creative-Commons-licensed open source package provided by OpenSlam.

  • Author: Brian Gerkey
  • License: CreativeCommons-by-nc-sa-2.0
  • Packages: gmapping

sound_drivers

This stack is the common place for all sound related drivers. Currently the only driver is sound_play, which can be used to play WAV and OGG files, synthesize speech and play builtin sounds, over any device supported by pygame (SDL).

  • Author: Blaise Gassend
  • License: BSD
  • Packages: sound_play

texas_drivers

Hardware drivers and related tools for the Texas Alpha robot.

trajectory_filters

This stack contains a set of filters to work with joint trajectories. It also contains a trajectory filter server which is a ROS node that exposes a ROS service interface to a chain of filters.

ua_apps

Applications and demos for UA Robots.

ua_cognition

This stack will contain the cognitive architecture for the Wubble Robot. Currently, it contains a ROS wrapper for the GBBopen blackboard system.

  • Author: Maintained by Daniel Hewlett
  • License: BSD
  • Packages: gbbopen

ua_controllers

This stack contains higher level controllers for the Wubble Robot, which generally depend on packages in the ua_drivers stack for interfacing with the hardware. Thus, packages in this stack provide a higher level of abstraction for Wubble Robot subsystems than ua_drivers.

ua_drivers

This stack contains ROS drivers for Phidgets pressure, RFID and accelerometer sensors, Dynamixel AX-12 servos, and two interfaces for the Videre STOC camera.

ua_robots

This stack contains URDF description files, 3D models, meshes, textures and configuration parameters needed for Wubble Robot simulation.

ua_vision

Contains packages related to vision on UA robots, including saliency tracking based on the Nick's Machine Perception Toolkit (NMPT).

velodyne

ROS support for the Velodyne HDL-64E 3D LIDAR.

vision

These are vision-related packages.

vision_opencv

opencv c++ and python libraries.

visual_feature_detectors

Visual feature and object detectors.

visualization

Visualization tools for robots. Currently just rviz, a 3d visualization environment for robots using ROS, as well as rxbag_plugins, which extend the visualization capabilities of rxbag.

visualization_common

Provides a low-level shared stack for sharing code between various higher level visualization tools.

web_interface

This stack contains the packages and utilities required to run the web user interface.

wg_common

Stores pakages that are widely useful to robots operating at Willow Garage.

  • Author: Maintained by Eitan Marder-Eppstein
  • License: BSD
  • Packages: willow_maps

wg_pr2_apps

Basic applications for PR2 robots running at Willow Garage.

  • Author: Maintained by Eitan Marder-Eppstein
  • License: BSD
  • Packages: wg_pr2_2dnav

wubble_world

wubble_world

Wiki: StackList (last edited 2010-01-22 20:08:33 by MeloneeWise)

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