hector_pose_estimation_core is the core package of the hector_localization stack. It contains the Extended Kalman Filter (EKF) that estimates the 6DOF pose of the robot. hector_pose_estimation can be used either as a library, as a nodelet or as a standalone node.

hector_pose_estimation provides the hector_pose_estimation node and the hector_pose_estimation nodelet.

hector_object_tracker is the core package of hector_worldmodel. It listens to percept message from detectors (e.g. heat signatures of persons or recognitions of other objects of interest in the scene) and fuses all information to a single worldmodel state. Objects will be tracked over time and their states can be influenced by a couple of services. The percept to object association problem is solved either automatically based on the Mahalanobis distance, or a unique object_id can be given in the percept message. If a hector_nav_msgs/GetDistanceToObstacle service is available, the object_tracker can optionally deduce the depth of objects in the scene by projection to the nearest obstacle (wall).

hector_nav_msgs contains messages and services used in the hector_slam stack.

hector_models contains (urdf) models of robots, sensors etc.

hector_marker_drawing provides convenience functions for easier publishing of visualization markers.

hector_mapping is a SLAM approach that can be used without odometry as well as on platforms that exhibit roll/pitch motion (of the sensor, the platform or both). It leverages the high update rate of modern LIDAR systems like the Hokuyo UTM-30LX and provides 2D pose estimates at scan rate of the sensors (40Hz for the UTM-30LX). While the system does not provide explicit loop closing ability, it is sufficiently accurate for many real world scenarios. The system has successfully been used on Unmanned Ground Robots, Unmanned Surface Vehicles, Handheld Mapping Devices and logged data from quadrotor UAVs.

hector_map_tools contains some functions related to accessing information from OccupancyGridMap maps. Currently consists of a single header.

hector_map_server provides a service for retrieving the map, as well as for raycasting based obstacle queries (finds next obstacle in the map, given start and endpoint in any tf coordinate frame).

The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements. The usage of other sensors is application-dependent. The hector_localization stack currently supports GPS, magnetometer, barometric pressure sensors and other external sources that provide a geometry_msgs/PoseWithCovariance message via the poseupdate topic.

hector_imu_tools provides some tools for processing IMU messages

hector_imu_attitude_to_tf is a lightweight node that can be used to publish the roll/pitch attitude angles reported via a imu message to tf.

hector_geotiff_plugins contains plugins that extend geotiff maps generated by hector_geotiff.

hector_geotiff provides a node that can be used to save occupancy grid map, robot trajectory and object of interest data to RoboCup Rescue compliant GeoTiff images.

hector_gazebo_worlds provides gazebo scenarios used by Team Hector Darmstadt

hector_gazebo_thermal_camera provides a gazebo plugin that produces simulated thermal camera images. The plugin uses modified code from the gazebo_ros_camera plugin.

hector_gazebo_plugins provides gazebo plugins from Team Hector. Currently it contains a 6wd differential drive plugin, an IMU sensor plugin, an earth magnetic field sensor plugin, a GPS sensor plugin and a sonar ranger plugin.

hector_gazebo provides packages related to to simulation of robots using gazebo (gazebo plugins, world files etc.)

hector_compressed_map_transport provides means for transporting compressed map data through the use of image_transport.

hector_components_description contains URDF xacro macros for robot components, so they are easily attachable to robot models.

ROS wrapper around Fanelli et al.'s Real Time Head Pose Estimation from Consumer Depth Cameras. 33rd Annual Symposium of the German Association for Pattern Recognition (DAGM'11), 2011.

Hardware Interface base class.

ROS package to detect handles.

hack_the_web_program_executor

3rd party library: GSLL a GSL wrapper for common lisp

3rd party library: GSD

A ROS camera driver that uses gstreamer to connect to devices such as webcams.

Visualization and rviz helpers for Grizzly

Nodes to republish joystick messages as a cmd_vel topic suitable for use with real or simulated Grizzly.

Metapackage allowing easy installation of Grizzly simulation components.

The grizzly_navigation package

grizzly_msgs

Low-level motion control nodes for Grizzly which are common to simulated and non-simulated Grizzly.

Gazebo plugin to provide simulated Grizzly dynamics.

Example launchfiles for working with the Grizzly simulator.

Metapackage of things you want to visualize and control Grizzly from a desktop.

grizzly_description package to hold urdf and related model files

The gripper_action_controller package

Messages for describing objects and how to grasp them.

Message definitions for grasp stability analysis during robot manipulation actions

ROS messages for publishing graphs of different data types

Graft is not yet finished. It's intended to be a full replacement to robot_pose_ekf, including native absolute references, and arbitrary topic configuration. If you try to use Graft now, please note that not all parameters are configured and you will not always see a change in behavior by modifying the parameters.

connects to a GPSd server and broadcasts GPS fixes using the NavSatFix message

gps_umd metapackage

GPS messages and common routines for use in GPS drivers

This package contains a ROS wrapper for OpenSlam's Gmapping. The gmapping package provides laser-based SLAM (Simultaneous Localization and Mapping), as a ROS node called slam_gmapping. Using slam_gmapping, you can create a 2-D occupancy grid map (like a building floorplan) from laser and pose data collected by a mobile robot.

Metapackage of geometry tutorials ROS.

geometry_msgs provides messages for common geometric primitives such as points, vectors, and poses. These primitives are designed to provide a common data type and facilitate interoperability throughout the system.

Geometry Library

This package contains generic definitions of geometric shapes and bodies.