kul-ros-pkg contains various packages provided by the Mechatronics and Robotics Research Group of the Division PMA, Department of Mechanical Engineering, Katholieke Universiteit Leuven, Leuven, Belgium.

We are gradually moving all stacks and packages from svn to git.

svn access is available at:

http://svn.mech.kuleuven.be/repos/orocos/trunk/kul-ros-pkg/

git repositories can be found at:

http://git.mech.kuleuven.be/

kul-ros-pkg

• Version Control:
• Stacks
  • camera_pose_estimation
  • geometric_relations_semantics
  • itasc
  • itasc_core
  • itasc_robots_objects
  • itasc_solvers
  • itasc_tasks
  • krypton_hardware
  • orocos_kinematics_dynamics
  • orocos_toolchain
  • orocos_toolchain_ros
  • rtt_common_msgs
  • rtt_geometry
  • rtt_ros_comm
  • rtt_ros_integration
  • soem
  • xsens_hardware
• Packages
  • camera_pose_estimation
  • geometric_relations_semantics
  • itasc
  • itasc_core
  • itasc_robots_objects
  • itasc_solvers
  • itasc_tasks
  • krypton_hardware
  • orocos_kinematics_dynamics
  • orocos_toolchain
  • orocos_toolchain_ros
  • rtt_common_msgs
  • rtt_geometry
  • rtt_ros_comm
  • rtt_ros_integration
  • soem
  • xsens_hardware

camera_pose_estimation

camera_pose_estimation: this stack gathers all our package to do 3D pose estimation of objects, marker-based and markerless.

• Author: Steven Bellens - steven.bellens@mech.kuleuven.be, Koen Buys - koen.buys@mech.kuleuven.be
• License: LGPLv2.1 / BSD
• Packages: ar_pose_demo, ar_pose_ekf, ar_pose_world_convertor, rtt_ar_pose

geometric_relations_semantics

geometric_relations_semantics

• Author: Maintained by Tinne De Laet
• License: LGPL/BSD,LGPLv2.1 / BSD
• Packages: geometric_semantics, geometric_semantics_examples, geometric_semantics_kdl, geometric_semantics_msgs, geometric_semantics_msgs_conversions, geometric_semantics_tf, geometric_semantics_tf_msgs, geometric_semantics_tf_msgs_conversions

itasc

itasc

• Author: Maintained by Dominick Vanthienen
• License: BSD,LGPL
• Packages:

itasc_core

itasc_core unary stack

• Author: Maintained by Dominick Vanthienen
• License: BSD,LGPL
• Packages: itasc_core

itasc_robots_objects

itasc_robots_objects

• Author: Maintained by Dominick Vanthienen
• License: BSD,LGPL
• Packages: fixed_object, itasc_pr2, kuka_lwr, moving_object

itasc_solvers

itasc_solvers

• Author: Maintained by Dominick Vanthienen
• License: BSD,LGPL
• Packages: wdls_prior_vel_solver

itasc_tasks

itasc_tasks

• Author: Maintained by Dominick Vanthienen
• License: BSD,LGPL
• Packages: cartesian_motion, joint_motion

krypton_hardware

The krypton_hardware stack contains all code to set-up communication with any Nikon K-Series Optical CMM, used in combination with a High Frequency (HF) - controller, and read out pose measurements.

• For low level interaction, the krypton package provides methods to start and read out data from the HF-controller.
• For high level interaction, the krypton_component contains an Orocos component wrapped around the krypton library to stream all data to ROS nodes.

• Author: Steven Bellens, steven.bellens@mech.kuleuven.be
• License: LGPLv2.1 / BSD
• Packages: krypton, krypton_component, krypton_msgs, krypton_typekit, rtt_krypton_msgs

orocos_kinematics_dynamics

orocos_kinematics_dynamics

• Author: Maintained by Ruben Smits
• License: GPL,LGPL / BSD,LGPL
• Packages: kdl, orocos_kdl, python_orocos_kdl

orocos_toolchain

This stack contains all software necessary to build systems using the Orocos Toolchain.

• Author: Maintained by Ruben Smits - Steven Bellens - Peter Soetens
• License: GPL + runtime exception,LGPL
• Packages:

orocos_toolchain_ros

This stack contains all software necessary to build systems using both Orocos and ROS infrastructures. The complete Orocos Toolchain is integrated in the ROS build system and the rtt_ros_integration package allows easy communication between Orocos components and ROS nodes.

• Author: Maintained by Ruben Smits - Steven Bellens
• License: BSD,GPL + runtime exception,LGPL
• Packages: log4cpp, ocl, orogen, rtt_gems, rtt_ros_integration, rtt_ros_integration_example, rtt_ros_integration_geometry_msgs, rtt_ros_integration_nav_msgs, rtt_ros_integration_sensor_msgs, rtt_ros_integration_std_msgs, rtt_ros_param, rtt_ros_service, rtt_rospack, rtt_tf

rtt_common_msgs

This stack contains all RTT typekits for common_msgs messages

• Author: Maintained by Ruben Smits - Steven Bellens
• License: BSD,GPL + runtime exception,LGPL
• Packages: rtt_actionlib_msgs, rtt_diagnostic_msgs, rtt_geometry_msgs, rtt_nav_msgs, rtt_sensor_msgs, rtt_stereo_msgs, rtt_trajectory_msgs, rtt_visualization_msgs

rtt_geometry

rtt_geometry

• Author: Maintained by Ruben Smits
• License: GPL,LGPL / BSD
• Packages: kdl_lua, kdl_typekit, rtt_tf

rtt_ros_comm

This stack contains all RTT typekits for the ros_comm messages

• Author: Maintained by Ruben Smits - Steven Bellens
• License: BSD,GPL + runtime exception,LGPL
• Packages: rtt_rosgraph_msgs, rtt_std_msgs

rtt_ros_integration

This stack contains all software necessary to build systems using both Orocos and ROS infrastructures. It depends on the Orocos Toolchain. The rtt_rosnode package allows easy communication between Orocos components and ROS nodes.

• Author: Maintained by Ruben Smits - Steven Bellens
• License: GPL,BSD,LGPL,GPL + runtime exception
• Packages: rtt_ros_integration_example, rtt_rosnode

soem

soem

• Author: Maintained by Ruben Smits
• License: GPL with runtime exception,BSD,LGPL
• Packages: soem_beckhoff_drivers, soem_core, soem_ebox, soem_master

xsens_hardware

Stack to interface Xsens MTI devices. The xsens_mti package contains the low level library to access the IMU data. xsens_component is an Orocos component, wrapped around xsens_mti, streaming all data to ROS topics.

• Author: Steven Bellens, steven.bellens@mech.kuleuven.be
• License: LGPLv2.1 / BSD
• Packages: xsens_component, xsens_mti