iri-ros-pkg repository contains ROS related software produced by the Institut de Robòtica i Informàtica Industrial robotics laboratory. The code is licensed under the LGPL. More information can be found in our IRI ROS wiki

Dependencies on IRI software
A lot of stacks or packages from the iri-ros-pkg use non ROS IRI Lab software or drivers. We provide our own ubuntu package repository or instructions about how to download sources and install them on our wiki pages.

iri-ros-pkg

• Version Control:
• Stacks
  • darwin_robot
  • estirabot_robot
  • iri_common_drivers
  • iri_core
  • iri_darwin
  • iri_learning
  • iri_navigation
  • iri_odometry_publisher
  • iri_perception
  • iri_perception_filters
  • iri_planning
  • iri_segway_rmp
  • iri_teleop
  • iri_wam
  • teo_robot
  • tibi_dabo_robot
  • zyonz_robot

darwin_robot

darwin_robot

• Author: Maintained by Sergi Hernandez Juan
• License: BSD
• Packages: darwin_arm_client, darwin_arm_simple_nav, darwin_icra12, darwin_simple_nav, darwin_simple_nav_client, darwin_teleop

estirabot_robot

Estirabot is a WAM Arm and Barret Hand based robot designed to manipulate deformable objects, like clohting. It was created under the scope of the project INTELLACT (Intelligent observation and execution of Actions and manipulations).

• Author: Maintained by IRI Robotics Lab, Pol Monso and Guillem Alenya
• License: LGPL
• Packages: estirabot_apps, estirabot_base, estirabot_msgs, iri_arm_movements_by_pose, iri_clean_board, iri_grasp_actions, iri_obj_filter, iri_place, iri_wam_actions, iri_wam_test

iri_common_drivers

iri_common_drivers

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_asterx1, iri_common_drivers_msgs, iri_dynamixel_gripper, iri_firewire_camera, iri_hokuyo_laser, iri_hokuyo_laser3d, iri_joystick, iri_leuze_laser, iri_loquendo_tts, iri_pmdcamera, iri_tcm3_compass

iri_core

Base classes of IRI ROS software.

• Author: Maintained by IRI Robotics Lab, Joan Perez
• License: LGPL
• Packages: iri_action_server, iri_base_algorithm, iri_base_driver

iri_darwin

iri_darwin

• Author: Maintained by shernand
• License: BSD
• Packages: iri_darwin_camera, iri_darwin_kinematics, iri_darwin_odom, iri_darwin_odom_twist, iri_darwin_robot

iri_learning

IRI Stack to host learning related packages

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_publish_params, iri_svmsgd

iri_navigation

Set of algorithms for mobile robot autonomous navigation.

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_checkpoint_nav, iri_laser_localisation, iri_laser_navigation, iri_localization3d, iri_nav_msgs, iri_no_collision, iri_no_collision_fake, iri_oa_client, iri_people_follower, iri_people_follower_client, iri_people_prediction, iri_ry_oa_bridge

iri_odometry_publisher

iri_odometry_publisher

• Author: Maintained by IRI Robotics Lab, Joan Perez
• License: LGPL
• Packages: iri_covariance_markers, iri_generic_odometry, iri_laser_icp, iri_laser_scan_matcher, iri_lasers_to_pointcloud, iri_msg_to_odom, iri_odometry_core, iri_robot_pose_ekf, iri_visual_odometry

iri_perception

Set of algorithms for robot perception.

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_cam_detection, iri_camera_people_detection, iri_chessboard_pattern_projection, iri_clothes_grasping_point, iri_deformable_analysis, iri_door_detector, iri_fake_image_processing, iri_hole_detection, iri_image_publisher, iri_image_reader, iri_image_recorder, iri_laser_people_detection, iri_laser_people_labeler_trainer, iri_laser_people_multi_detection, iri_leaf_fitting, iri_leaf_probing_point, iri_leaf_segmentation, iri_moped_actionclient, iri_moped_actionserver, iri_moped_handler, iri_my_database_publ, iri_my_labeler, iri_object_detection, iri_object_pose_detection, iri_obstacle_detection_normals, iri_people_tracking, iri_people_tracking_fake, iri_people_tracking_rai, iri_perception_msgs, iri_pointcloud_to_pcd, iri_textile_count

iri_perception_filters

iri_pcl

• Author: Maintained by IRI Robotics Lab, Sergi Foix
• License: LGPL
• Packages: average_point_cloud_node, handeye_log, iri_apply_tof_calibration, iri_feature_map, iri_filter_jump_edge, iri_filter_table, iri_objectcount, iri_opencv_filters, iri_pcl_app, iri_pcl_filters, iri_plane_segmentation_pcl_rgb, iri_wrinkled_map, normal_descriptor_node

iri_planning

IRI Stack to host planning algorithms

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_2piles_pomdp, iri_dummy_pomdp, iri_mdp_planning

iri_segway_rmp

This stack contains ROS drivers for Segway RMP 200 and Segway RMP 400 platforms. These drivers are derivated from iri_ros_core, featuring dynamic reconfigure and diagnostics among other tools.

IRI Lab Robotica drivers are required to be installed:

• Segway_RMP200_driver
• Segway_RMP400_driver

This stack also contains 3d meshes and URDF files for both platforms, as well as corresponding odometry publisher nodes.

• Author: Maintained by IRI Robotics Lab
• License: LGPL
• Packages: iri_segway_rmp200, iri_segway_rmp200_odom, iri_segway_rmp400, iri_segway_rmp400_odom, iri_segway_rmp_msgs

iri_teleop

IRI Teleop Stack

• Author: Joan Perez, jnperez at iri.upc.edu
• License: LGPL
• Packages: iri_gamepad_teleop, iri_joystick_core, iri_platform_teleop, iri_wiimote_teleop

iri_wam

Lots of tools for the WAM arm: fk, ik, calibration ... Driver wrapper interfaces with the NEW libbarrett library

• Author: Maintained by IRI Robotics Lab, Pol Monso'
• License: LGPL
• Packages: iri_bhand, iri_wam_arm_navigation, iri_wam_base, iri_wam_cartesian_planning, iri_wam_common_msgs, iri_wam_description, iri_wam_ik, iri_wam_move_arm, iri_wam_simulator, iri_wam_tcp_ik, iri_wam_tutorial, iri_wam_wrapper

teo_robot

ROS software stack to handle TEO Robot. TEO is a Segway RMP400 based robot used in the project PAU (Perception and Action under Uncertainity).

Currently, the robot is equipped with:

• 2x Onboard Industrial computers
• 2x Hokuyo Laser UXM-30LX-E (front and rear)
• 1x Hokuyo Laser URG-04LX looking down (to detect changes at floor level)
• 1x 3D Hokuyo Laser UTM-30LX (IRI own prototype)
• 2x Flea stereo cameras
• 1x AstRx1 GPS
• 1x TCM3 Compass

• Author: Maintained by IRI Robotics Lab, Jose Luis Rivero and Marti Morta
• License: LGPL
• Packages: teo_2dnav, teo_apps, teo_base, teo_gazebo_plugin, teo_rosbag_filters, teo_teleop

tibi_dabo_robot

Tibi and Dabo are two robots based on Segway RMP200 platforms. Its main task is to provide services of information, guiding and steward to persons in urban spaces. They were originally built under the scope of the project URUS (Ubiquitous Networking Robotics in Urban Settings).

• Author: Maintained by IRI Robotics Lab, Joan Perez, Sergi Hernandez and Andreu Corominas
• License: LGPL
• Packages: hre_random_node, hrengagement_node, tibi_dabo_arm_node, tibi_dabo_base, tibi_dabo_head_client, tibi_dabo_head_node, tibi_dabo_head_tracking, tibi_dabo_hre, tibi_dabo_hri_fake, tibi_dabo_hri_node, tibi_dabo_hri_teleop, tibi_dabo_msgs, tibi_dabo_rosnav, tibi_dabo_sequence_editor, tibi_dabo_smachs

zyonz_robot

Zyonz is a WAM based robot which is designed to work in gardening tasks. It was originally created to work under the scope of the project GARNICS: Gardening with a cognitive system).

• Author: Maintained by IRI Robotics Lab, Sergi Foix and Guillem Alenya
• License: LGPL
• Packages: zyonz_apps, zyonz_base, zyonz_chlorophyll_meter, zyonz_chlorophyll_meter_client, zyonz_find_leaf_probing_points, zyonz_geometric_based_single_leaf_probing, zyonz_image_based_leaf_probing, zyonz_msgs, zyonz_nbv_geometric_simple, zyonz_obtain_roi_jump_edge_based, zyonz_obtain_two_clustered_leaves, zyonz_tof_color