The Bosch ROS repository contains a collection of packages developed at the Bosch Research and Technology Center in Palo Alto, CA. The Bosch Research and Technology Center is an active participant in the PR2 Beta Program run by Willow Garage, Inc. Bosch's research objective as part of the PR2 Beta Program is to accelerate the development of the robotics market by making robots cheaper, more capable, and safer.
As part of this initiative, we examine a combination of hardware and software solutions including: affordable sensing, shared autonomy, and remote experimentation. We integrate advanced sensor technology, such as MEMS accelerometers and gyros in the PR2 to enable new applications and to accelerate the wide-scale deployment of robot technology in new environments. We also explore how human users can effectively interact with a PR2 remotely and locally. Our results demonstrate that including a human in the loop improves the PR2's performance and reliability. These improvements may allow robots to be deployed earlier, at lower cost, and in more complex environments. In order to give more people access to to quality robotics research platform such as the PR2, we built the PR2 Remote Laboratory. This laboratory is designed to allow a larger group of researchers to perform research on a PR2 robot remotely.
Links
bosch-ros-pkg
- Version Control: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk
- Stacks
- aaai_lfd_demo
- bosch_3rdparty
- bosch_common
- bosch_drivers
- bosch_image_proc
- bosch_kitchen_models
- bosch_manipulation_utils
- bosch_proximity_sensor
- bosch_proximity_sensor_applications
- bosch_registration
- bosch_skin
- bosch_surface_reconstruction
- bosch_texture_reconstruction
- drink_serving
- exploration
- manipulator_state_estimation
- ocr
- pr2_dremel
- pr2_exploration
- recovery_shared_autonomy
- recovery_smach_visualization
- remote_lab
- shared_autonomy
aaai_lfd_demo
Infrastructure for the 2011 AAAI-LfD Challenge
- Author: Sarah Osentoski, Dejan Pangercic, Benjamin Pitzer (Maintained by Sarah Osentoski)
- License: BSD
- Packages: aaai_lfd_demo_executive, aaai_lfd_demo_launch, aaai_lfd_mixed_manipulator, aaai_lfd_pick_and_place_service, aaai_lfd_simulator, aaai_object_detection, arm_file_control, openloop_object_manipulation, rl_2dnav
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/aaai_lfd_demo
bosch_3rdparty
bosch_3rdparty
bosch_common
A collection of demos for Bosch stacks and packages.
- Author: Charles DuHadway, Benjamin Pitzer (Maintained by Benjamin Pitzer)
- License: BSD
- Packages: bosch_maps, bosch_worlds, rtc
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_common
bosch_drivers
A collection of hardware drivers in use at Bosch RTC.
- Author: Benjamin Pitzer, Philip Roan (Maintained by Philip Roan)
- License: BSD,LGPL
- Packages: adc_sub20, amtec, bma180, gumstix_memread_bma180, gumstix_memwrite_bma180, photo, smi540, sub20, usb_cam
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_drivers
bosch_image_proc
Contains tools for image processing
- Author: Christian Bersch (Maintained by Benjamin Pitzer)
- License: BSD,GPL
- Packages: camera_self_filter, pr2_camera_self_filter
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_image_proc
bosch_kitchen_models
kitchen_models
- Author: Maintained by Dejan Pangercic
- License: BSD
- Packages: bosch_kitchen_defs, cad_model_publisher
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_kitchen_models
bosch_manipulation_utils
Contains helpers to control the PR2 robot
- Author: Christian Bersch (Maintained by Benjamin Pitzer)
- License: BSD
- Packages: pr2_interactive_segmentation, simple_robot_control
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_manipulation_utils
bosch_proximity_sensor
bosch_proximity_sensor
- Author: Adrian Funk, Philip Roan (maintained by Philip Roan)
- License: BSD
- Packages: proximity_sensor_add_obstacles, proximity_sensor_dashboard, proximity_sensor_driver, proximity_sensor_fake_data, proximity_sensor_tf, proximity_sensor_visualize
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_proximity_sensor
bosch_proximity_sensor_applications
bosch_proximity_sensor_applications
- Author: Adrian Funk (maintained by Philip Roan)
- License: BSD
- Packages: pr2_arm_teleop_skin, pr2_calib_proximity_sensor, reactive_trajectory_controller
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_proximity_sensor_applications
bosch_registration
bosch_registration
- Author: Maintained by Dejan Pangercic
- License: BSD
- Packages: mesh_registration, scan_matcher
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_registration
bosch_skin
Contains the Bosch Sensor Skin driver and demo applications.
- Author: Maintained by Sebastian Haug
- License: BSD
- Packages: safe_base_controller, skin_config, skin_dashboard, skin_demo_movebase, skin_driver, skin_safe_base
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_skin
bosch_surface_reconstruction
bosch_surface_reconstruction
- Author: Maintained by Dejan Pangercic
- License: BSD
- Packages: mesh_generator, meshset3d_tools, surface_modelling_common, view_mesh, view_meshset3d
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_surface_reconstruction
bosch_texture_reconstruction
bosch_texture_reconstruction
- Author: Maintained by Dejan Pangercic
- License: BSD
- Packages: mesh_parameterization, mesh_segmentation, meshset_texture_blender, meshset_texture_generator
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/bosch_texture_reconstruction
drink_serving
drink_serving
- Author: Christian Bersch, Nikhil Deshpande, Adrian Funk, Ralf Kempf, Kyle Maroney, Sarah Osentoski, Dejan Pangercic, Benjamin Pitzer, Philip Roan, Bharath Sankaran
- License: BSD,MIT
- Packages: bosch_drawer_executive, busbot_bringup, busbot_description, busbot_driver, busbot_filter, busbot_gazebo, busbot_launch, busbot_navigation, busbot_node, ds_common_msgs, ds_master_executive, ds_pr2_2dnav, ds_pr2_drink_fetching_planner, ds_pr2_drop_drink, ds_pr2_fridge_drink_perception, ds_pr2_fridge_handle_detector, ds_pr2_fridge_manipulation_executive, ds_pr2_fridge_opener, ds_turtle_2dnav, ds_webinterface, keyboard_smooth, keyboard_smooth_safe, marker_detector_tbot, multi_robot_visualization
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/drink_serving
exploration
A 2D exploration library that builds on top of the 2D navigation stack provided by Willow Garage.
- Author: Charles DuHadway (maintained by Benjamin Pitzer)
- License: BSD
- Packages: explore, explore_stage
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/exploration
manipulator_state_estimation
manipulator_state_estimation
- Author: Nikhil Deshpande, Philip Roan (maintained by Philip Roan)
- License: BSD
- Packages: pr2_arm_state_estimation
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/manipulator_state_estimation
ocr
A stack for optical character recognition (OCR) packages.
- Author: Benjamin Pitzer
- License: BSD
- Packages: leptonica, ocr_server, tesseract
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/ocr
pr2_dremel
pr2_dremel
- Author: Benjamin Pitzer, Christian Bersch, Sarah Osentoski, Philip Roan, Soeren Kammel (maintained by Benjamin Pitzer)
- License: BSD
- Packages: pr2_dremel_arm_controller, pr2_dremel_gui, pr2_dremel_server, remote_power_manager, vlr
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/pr2_dremel
pr2_exploration
Exploration stack for the PR2.
- Author: Charles DuHadway (maintained by Benjamin Pitzer)
- License: BSD
- Packages: explore_pr2
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/pr2_exploration
recovery_shared_autonomy
The recovery_shared_autonomy stack is an independent extension of the SMACH library. It includes an autonomous failure recovery mode and an expert interface module. It also includes tools for introspection and ROS integration.
- Author: Maintained by Bharath Sankaran
- License: BSD
- Packages: recovery, recovery_tutorials, smach_recovery, smach_recovery_msgs, smach_recovery_ros
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/recovery_shared_autonomy
recovery_smach_visualization
The recovery_smach_visualization stack contains the SMACH RECCOVERY library, together with tools for introspection and a ROS integration package.
- Author: Maintained by Bharath Sankaran
- License: BSD
- Packages: smach_recovery_viewer
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/recovery_smach_visualization
remote_lab
A stack of tools for remote control, tele-op and remote labs.
- Author: Maintained by Benjamin Pitzer
- License: BSD
- Packages: interactive_marker_client, mjpeg_server, ping, pointcloud_snapshot_service, pr2_pick_and_place_service, robot_booking, rosjs_assisted_teleoperation, rosjs_common, rosjs_pr2interaction, rosjs_remotelabwidgets, rosjs_resources, rosjs_tests, rosjs_tutorials, rosjs_visualization, tf_lister, topic_logger, wviz, wviz_kinematic_manager, wviz_scene_manager, wviz_tf_manager
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/remote_lab
shared_autonomy
A stack for packages related to shared autonomy
- Author: Charles DuHadway, Benjamin Pitzer (maintained by Benjamin Pitzer)
- License: BSD
- Packages: augmented_object_selection, bosch_object_segmentation_gui, grabcut_3d, safe_teleop_base, safe_teleop_pr2, safe_teleop_stage
- Source: svn https://bosch-ros-pkg.svn.sourceforge.net/svnroot/bosch-ros-pkg/trunk/stacks/shared_autonomy