laas-ros-pkg

• Version Control:
• Stacks
  • geometric_tools
  • hueblob
  • humanoid_walk
  • jrl_walkgen_bridge
  • motion_analysis_mocap
  • redundant_manipulator_control
  • redundant_manipulator_control_tutorial
  • roboptim
  • robot_contact_point
  • robot_model_py
  • romeo
  • rosbag_analysis
  • vision_visp

geometric_tools

Geometric Tools is a library gathering algorithms for real-time computer graphics and physics, mathematics, geometry, numerical analysis, and image analysis.

• Author: Geometric Tools, LLC, packaging by Thomas Moulard
• License: Boost
• Packages: geometric_tools

hueblob

Stereo tracking of a color blob.

• Author: Maintained by Duong Dang and Thomas Moulard/thomas.moulard@gmail.com
• License: BSD
• Packages: hueblob

humanoid_walk

This stack gathers tools to generate walking movements for humanoids robots. It provides both C++ interfaces through walk_interfaces, ROS interfaces through walk_msgs and pattern generators algorithms.

• Author: Maintained by Thomas Moulard/thomas.moulard@gmail.com
• License: BSD
• Packages: halfsteps_pattern_generator, walk_interfaces, walk_msgs, walk_tools

jrl_walkgen_bridge

Provide pattern-generators compatible with the walk_interfaces / walk_msgs interface using the jrl-walkgen software. The following algorithms are provided by this pattern generator:

• Kajita 2003
• Morisawa 2007

• Author: Maintained by Thomas Moulard
• License: BSD,
• Packages: jrl_walkgen_bridge

motion_analysis_mocap

This stack provides a bridge between the Cortex software from Motion Analysis and ROS. The bridge relies on evart-stream and evart-client software written by Anthony Mallet.

• Author: Maintained by Thomas Moulard
• License: BSD
• Packages: evart-client, evart_bridge

redundant_manipulator_control

Real-time control framework for redundant manipulators.

• Author: Maintained by Thomas Moulard
• License: BSD,LGPL
• Packages: dynamic_graph_actionlib, dynamic_graph_bridge, jrl_dynamics_urdf, roboptim_smoother, sot_pr2

redundant_manipulator_control_tutorial

Tutorial for stack redundant_manipulator_control.

• Author: Maintained by Florent Lamiraux
• License: BSD
• Packages: ball_reaching

roboptim

RobOptim is an optimization framework dedicated to robotics problem resolution. It is divided into a core layer providing numerical optimization tools interfaces, plug-ins containing solvers and other packages implementing tools tackling particular problems such as trajectory optimization.

• Author: Maintained by Thomas Moulard
• License: LGPL
• Packages: roboptim-core, roboptim-core-plugin-cminpack, roboptim-trajectory

robot_contact_point

Robot contact point stack aims at providing a format and a parser in which one can define what are the allowed contact points for a robot. I.e. where are the area which can be used as a support and how much they can sustain. This stack defines the RCPDF (Robot Contact Point Definition Format) as XML mini-language derived from the URDF syntax.

• Author: Maintained by Thomas Moulard
• License: BSD
• Packages: rcpdf, rcpdf_interface

robot_model_py

robot_model_py contains a Python implementation of the urdf_parser package modeling various aspects of robot information, specified in the Xml Robot Description Format (URDF).

• Author: David!!, Thomas Moulard
• License: BSD
• Packages: urdf_parser_py

romeo

Aldebaran Robotics Romeo robot stack.

• Author: Maintained by François Keith and Thomas Moulard/thomas.moulard@gmail.com
• License: BSD (model copyright hold by Aldebaran Robotics)
• Packages: romeo_description

rosbag_analysis

This tool extracts data as gnuplot compatible files so that one can easily analyze rosbag data offline.

• Author: Maintained by Thomas Moulard
• License: BSD
• Packages: rosbag_analysis

vision_visp

This stack wraps ViSP, the virtual visual servoing platform into ROS. In particular, visp_tracker allows online object tracking.

• Author: Maintained by Thomas Moulard
• License: BSD,GPL
• Packages: visp, visp_bridge, visp_camera_calibration, visp_hand2eye_calibration, visp_tracker

Private / closed-source stacks

These stacks are not available through ros.org / github.com due to copyright issues. However, we use them internally and may be able to share them under some conditions.

Please, send an e-mail directly to: <thomas.moulard AT gmail DOT com> for more information.

hrp2

This stack gathers HRP-2 model as a URDF file and calibration data for our robot as YAML files.

• Author: Thomas Moulard
• License: closed source
• Packages: hrp2_14_description, hrp2_14_machine, openhrp_bridge

humanoid_motions_planners

This stack gathers our motion planning algorithms for humanoid robots.

• Author: Antonio El Khoury, Thomas Moulard
• License: closed source
• Packages: hpp_wholebody_step_planner_bridge