Robots Using ROS: Assistive Robots at Georgia Tech's Healthcare Robotics Lab

Source Checkout

svn checkout http://gt-ros-pkg.googlecode.com/svn/trunk/ gt-ros-pkg-read-only

Drivers

• hrl_rfid: UHF RFID Thing Magic M5e and M5e-Compact UHF RFID Reader Interface Lib.

• force_torque: ATI nano 25 FT sensor, and AMTI HE6x6 force plate.

• hrl_camera: interfaces for accessing cameras from Python.

• hrl_tilting_hokuyo: Python code to use a Robotis servo to tilt a Hokuyo to get 3D point clouds.

• pan_tilt_robotis: Code to combine two Robotis servos to form a Pan Tilt Unit (for a stereo camera.)

• phantom_omni: ROS Node for Sensable Phantom Omni devices.

• robotis: designed to operate, query, and control Robotis Dynamixel 'smart' Servos using a USB2Dynamixel adaptor. It has been tested on the RX-28 and RX-64 servo variants.

• ros_vrpn_client: ROS wrapper for Virtual Reality Peripheral Networks (VRPN) client.

• zenither: Code to control an Animatics Smart Servo. We use the Animatics servos to control Festo linear actuators.

General/Other

• assistive_teleop: A web-based GUI designed to allow motor-impaired users to operate a PR2.

• hrl_lib: Home for a useful set of miscellaneous python modules, each too small to warrant having their own package.

• laser_interface: Detector that finds laser points in the world representing clicks.

• pr2_laser_follow_behavior: In this demo, the PR2 tracks the detected laser point using its pan-tilt then navigates towards it when the user double clicks the selected point.

• stereo_anaglyph: Display images from stereo pairs in red-cyan anaglyph mode.

• pr2_omni_teleop: Integrated package that allowing PR2 teleoperation using two Phantom Omni's and the stereo_anaglyph viewer.

• pr2_playpen: Code and hardware design for the robot playpen for high throughput data collection of object manipulation.

• UI_segment_object: Simple user interface for designating a 2D area in an image and processing the projected 3D point cloud from a Kinect contained in that area.

• trf_learn: A package for learning task relevant features. Contain behaviors for operating flip style light switches, rocker style light switches, and drawers.

Code associated with publications

• 2009_humanoids_epc_pull

• 2010_icra_epc_pull

• 2010_biorob_everyday_mechanics

Troubleshooting Resources

• Our PR2/ROS Notes

• Our public lab wiki

• Google Code home page

gt-ros-pkg

• Version Control: svn http://gt-ros-pkg.googlecode.com/svn/trunk
• Stacks
  • actuator_array
  • hrl_arm_control
  • hrl_behaviors
  • hrl_experiments
  • hrl_hardware_drivers
  • pioneer_arm
  • pr2_rfid
  • robot_model_python

actuator_array

This stack contains packages communicating, controlling, simulating, or otherwise concerning chains of position-controlled actuators (i.e. rc servos).

• Author: Maintained by Stephen Williams
• License: BSD
• Packages: actuator_array_driver, actuator_array_driver_gui, actuator_array_gazebo_plugin
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/humans/actuator_array

hrl_arm_control

hrl_arm_control

• Author: Maintained by Advait Jain and Kelsey Hawkins (Advisor: Prof Charlie Kemp)
• License: New BSD
• Packages: equilibrium_point_control, hrl_cody_arms, hrl_generic_arms, hrl_kdl_arms, hrl_pr2_arms
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/hrl_arm_control

hrl_behaviors

Collection of encapsulated behaviors and perceptual services along with architectures and interfaces which employ them. Most behaviors are designed for exclusive use with the PR2 but some of the perception packages do not require the actual robot.

• Author: Kelsey Hawkins, Travis Deyle, Advisor: Prof. Charlie Kemp (Healthcare Robotics Lab at Georgia Tech)
• License: BSD
• Packages: hrl_clickable_behaviors, hrl_clickable_world, hrl_move_floor_detect, hrl_table_detect, pr2_approach_table, pr2_collision_monitor, pr2_grasp_behaviors
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/hrl_behaviors

hrl_experiments

Contains packages with code for running various experiments.

• Author: Maintained by Kelsey Hawkins
• License: BSD
• Packages: hrl_hfa_2011, hrl_phri_2011, hrl_rfh_fall_2011, hrl_rfh_summer_2011
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/hrl_experiments

hrl_hardware_drivers

Python code to use different hardware components like Robotis servos, Phantom Omnis, Segway Omni, Hokuyos etc.

• Author: Maintained by Advait Jain. Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab, Georgia Tech.
• License: New BSD
• Packages: force_torque, hrl_hokuyo, hrl_segway_omni, hrl_tilting_hokuyo, pan_tilt_robotis, phantom_omni, robotis, zenither
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/hrl_hardware_drivers

pioneer_arm

Contains packages for controlling and simulating a Pioneer 5-DOF robotic arm

• Author: Maintained by Stephen Williams
• License: BSD
• Packages: p2os_with_arm_driver, pioneer_arm_description, pioneer_arm_launch
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/humans/pioneer_arm

pr2_rfid

This stack contains code for robot behaviors and radio frequency perception techniques that enable a PR2 (modified with articulated patch antennas) to efficiently discover, locate, and interact with long-range (UHF) RFID tags applied to locations, objects, and people of interest. Sample capabilities include: estimating the bearing toward a tag, RFID servoing, and RFID search. These techniques form the foundation of Travis Deyle's PhD thesis; we also demonstrated sample applications such as medication delivery, sensor fusion, and RFID search in home environments.

• Author: Dr. Travis Deyle (Georgia Tech), Prof. Charlie Kemp (Georgia Tech, advisor), and Prof. Matt Reynolds (Duke Univ., collaborator)
• License: BSD
• Packages: rfid_artoolkit, rfid_behaviors, rfid_datacapture, rfid_demos, rfid_explore_room, rfid_hardware, rfid_nav2, rfid_people_following, rfid_pf, rfid_servoing
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/pr2_rfid

robot_model_python

Python implementation of the URDF and KDL parsing utilities found in the robot_model stack.

• Author: Maintained by Kelsey Hawkins
• License: BSD
• Packages: kdl_parser_python, urdf_parser_python
• Source: svn http://gt-ros-pkg.googlecode.com/svn/trunk/hrl/robot_model_python