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This repository contains the ROS packages of the research at the Autonomous Intelligent Systems Lab and the Humanoid Robots Lab at the Albert-Ludwigs-Unversität in Freiburg, Germany.

Files are available at Google Code, either as single download packages (if available) or via SVN checkout of the complete repository or single stacks.

alufr-ros-pkg

articulation

This stack provides software that can recover articulation models given 3D or 6D pose trajectories.

The articulation_msgs package defines messages and services for exchanging trajectories and kinematic models.

The articulation_models package provides several nodes for fitting and selecting kinematic models for articulated objects. We employ maximum-likelihood sample consensus (MLESAC) for robustly estimating the kinematic parameters, and the Bayesian information criterion (BIC) for selecting between alternative model classes. The learned model assigns likelihoods to observed trajectories, predict the latent configuration of the articulated object, projects the noisy poses onto the model, predict the Jacobian, etc.

The articulation_structure package provides a service for fitting and selecting the kinematic model for articulated objects consisting of more than two parts.

Several tutorials, example launch files and demonstration videos are available in the package articulation_tutorials.

dynamic_voronoi

This stack provides software to compute and update Euclidean distance maps (DM) and Euclidean Voronoi diagrams (GVD) on 2D grid maps.

The program is initialized with a binary occupancy grid map and computes the corresponding DM and GVD. When provided with points that mark newly occupied or freed cells, the DM and GVD can be updated efficiently to reflect the changes in the environment.

Details on the algorithms can be found in the corresponding paper. Please cite the paper if you use it for scientific work:
B. Lau, C. Sprunk and W. Burgard, Improved Updating of Euclidean Distance Maps and Voronoi Diagrams, IEEE Intl. Conf. on Intelligent Robots and Systems (IROS), Taipei, Taiwan, 2010.
See also http://www.informatik.uni-freiburg.de/~lau/dynamicvoronoi

freiburg_tools

This stack contains several tools developed by the University of Freiburg, like RGBDSLAM, a Webcam driver, a checkerboard detector, the Gaussian Process library, the HOGMAN graph optimizer, etc.

humanoid_msgs

Messages and services for humanoid robots

humanoid_navigation

This stack will contain packages for humanoid (biped) navigation, developed at the Humanoid Robots Lab at the Albert-Ludwigs-Universität in Freiburg, Germany. The main code is currently in the footstep_planner package.

nao

The nao stack for ROS integration of the Nao humanoid is now split into two stacks, please use them directly: nao_robot and nao_common.

nao_common

This stack contains common tools for the Nao robot to run remotely on the PC together with nao_robot on the robot. It provides joint state, odometry, and teleoperation with a gamepad.

nao_robot

The nao_robot stack contains some useful nodes to integrated the Nao humanoid robot into ROS, developed at the Humanoid Robots Lab at the Albert-Ludwigs-Unversitaet in Freiburg, Germany. It provides basic functionality and can be installed on the robot. It should be used with the nao_common stack for more functionality. The humanoid_navigation stack contains some more general packages for humanoid / biped robots.

Files are available at http://code.google.com/p/alufr-ros-pkg/, documentation at http://www.ros.org/wiki/nao.

octomap_mapping

The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms. The map implementation is based on an octree. This stack contains the actual OctoMap package and additional code for ROS integration.

octomap_visualization

octomap_visualization provides visualization tools for the octomap_mapping stack, mainly the octovis viewer.

portrait_bot

The portrait_bot stack enables the PR2 draw faces recognized in camera images.

pr2_teleop_imitation

Thei pr2_teleop_imitation stack enables the PR2 to learn from user demonstrated trajectories.

symbolic_planning

The symbolic_planning stack contains symbolic planners (currently TFD/M), domain descriptions and additional packages for integration into ROS.

tidyup_interface

This stack contains interfacing packages for the TidyUp project.

Wiki: alufr-ros-pkg (last edited 2010-10-12 20:14:37 by KenConley)

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