ROS packages from the Knowledge-Based Systems group at the University of Osnabrück.
Web interface to the repository: gitweb
We are actively developing most of these packages. If you use our packages and have any comments/bug reports/patches, we'd be happy to hear from you!
Installation
Installing uos-ros-pkg
The easiest way to install uos-ros-pkg and all dependencies is to run the following commands (please first read the note about Diamondback/Electric below):
rosinstall ~/ros http://kos.informatik.uni-osnabrueck.de/uos-public.rosinstall source ~/ros/setup.sh # also add that to the bottom of your ~/.bashrc cd ~/ros/uos-ros-pkg rosmake katana_driver kurt_apps kurt_driver uos-slam uos_tools --rosdep-install
Build Environment
On our development machines, we have the following setup:
Ubuntu 11.04 (Natty); it should also work with 10.04 (Lucid) and 10.10 (Maverick). Diamondback is not packaged for 11.10 Oneiric, so it won't work with that (although you could try compiling ROS from source on Oneiric, of course).
ROS Diamondback; both the katana_driver and katana_manipulation stacks don't support Electric yet. However, the katana_driver stack works with ROS Electric if you run the following set of commands before compiling:
roscd katana_driver perl -e "s/motion_planning_msgs/arm_navigation_msgs/g;" -pi $(find -type f) perl -e "s/move_arm_msgs/arm_navigation_msgs/g;" -pi $(find -type f) perl -e "s/collision_environment_msgs/arm_navigation_msgs/g;" -pi $(find -type f) perl -e "s/planning_environment_msgs/arm_navigation_msgs/g;" -pi $(find -type f) perl -e "s/mapping_msgs/arm_navigation_msgs/g;" -pi $(find -type f) perl -e "s/geometric_shapes_msgs/arm_navigation_msgs/g;" -pi $(find -type f)
The katana_manipulation stack won't yet work after doing this (most importantly, the package katana_arm_navigation), but you can generate a starting point using the Planning Description Configuration Wizard.
ROS Ubuntu packages installed by default on our machines:
ros-diamondback-desktop-full ros-diamondback-joystick-drivers ros-diamondback-laser-drivers ros-diamondback-move-arm ros-diamondback-object-manipulation ros-diamondback-openni-kinect ros-diamondback-point-cloud-perception ros-diamondback-pr2-common-actions ros-diamondback-pr2-simulator ros-diamondback-camera-umd ros-diamondback-pr2-object-manipulation
If you install all of these, you'll have everything needed to compile our stacks. On the other hand, you will also get a lot more than strictly necessary, so if you have tight disk space requirements, you can instead hunt down missing dependencies one by one and only install those Ubuntu packages which are absolutely necessary.
Just for debugging information: gcc version 4.5.2 (the default from Ubuntu Natty), although we never had a problem compiling with earlier versions.
uos-ros-pkg
- Version Control: git http://kos.informatik.uni-osnabrueck.de/uos-ros-pkg.git
- Stacks
katana_driver
This stack contains hardware drivers, Gazebo plugins and other basic functionalities for the Neuronics Katana family of robot arms. Specifically, it provides:
- JointTrajectory and FollowJointTrajectory execution on the physical arm (packages katana, kni, katana_trajectory_filter, katana_msgs),
- simulation of the Katana arm in Gazebo (packages katana_gazebo_plugins, katana_arm_gazebo),
- URDF descriptions (package katana_description),
- simple teleoperation (packages katana_teleop, katana_joint_movement_adapter), and
- some demo programs (package katana_tutorials).
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Packages: katana, katana_arm_gazebo, katana_description, katana_gazebo_plugins, katana_joint_movement_adapter, katana_msgs, katana_teleop, katana_trajectory_filter, katana_tutorials, kni
katana_manipulation
This stack contains kinematics, motion planning and grasp planning for the Katana arm. Specifically:
- configuration files for the arm_navigation pipeline (package katana_arm_navigation),
- constraint-aware forward and inverse kinematics (package katana_kinematics_constraint_aware),
- an interpolated IK motion planner (package katana_interpolated_ik_motion_planner),
- a grasp planner based on OpenRAVE (package katana_openrave_grasp_planner),
- core functionality for pickup and place tasks (packages katana_object_manipulator, katana_object_manipulation_launch),
- a collision map for tabletop manipulation (package katana_tabletop_collision_map_processing),
- test programs for move_arm, constraint aware IK and Gripper controller (packages katana_openrave_test, katana_openloop_grasping), and
- the top-level launch files for the whole stack (package katana_tabletop_manipulation_launch).
This stack only runs under ROS Diamondback at the moment.
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Packages: katana_arm_navigation, katana_interpolated_ik_motion_planner, katana_kinematics_constraint_aware, katana_object_manipulation_launch, katana_object_manipulator, katana_openloop_grasping, katana_openrave_grasp_planner, katana_openrave_test, katana_tabletop_collision_map_processing, katana_tabletop_manipulation_launch
kurt_apps
kurt_apps
- Author: Maintained by Jochen Sprickerhof
- License: BSD
- Packages: kurt_2dnav, kurt_2dnav_slam, kurt_freespace, kurt_navigation_config, kurt_navigation_global, kurt_navigation_slam
kurt_driver
kurt_driver
- Author: Maintained by Jochen Sprickerhof
- License: BSD
- Packages: kurt_base, kurt_bringup, kurt_description, kurt_gazebo, kurt_gazebo_plugins, kurt_teleop, rotunit_snapshotter
kurtana_robot
kurtana_robot
- Author: Maintained by Martin Günther, Henning Deeken
- License: GPL
- Packages: kurtana_arm_navigation, kurtana_description, kurtana_joint_state_publisher, kurtana_tabletop_manipulation_launch
uos-slam
uos-slam
- Author: Maintained by Jochen Sprickerhof
- License: BSD
- Packages: slam_exporter
uos_tools
Various helper utilities not associated with a particular stack
- Author: Maintained by Martin Günther
- License: BSD
- Packages: tf_publisher_gui, uos_gazebo_worlds