Provides standard messages specific to Heron, especially for the microcontroller's rosserial interface.

The heron_desktop metapackage

URDF description for Heron

Control package for Heron

hector_xacro_tools

hector_worldmodel_msgs is a message package to comes with the hector_worldmodel stack. The messages can be used to send percepts from images (hector_worldmodel_msgs/ImagePercept) or other sources (hector_worldmodel_msgs/PosePercept) to the hector_object_tracker node. The tracker publishes model updates as hector_worldmodel_msgs/Object messages and latches the whole model state as a hector_worldmodel_msgs/ObjectModel message.

hector_worldmodel_geotiff_plugins contains a plugin to visualize worldmodel objects (e.g. victims in a Search and Rescue scenario) in a geotiff map generated by

The hector_worldmodel stack helps to collect and fuse information about objects in the world. It is used by Team Hector Darmstadt to localize victims and QR codes in the Robocup Rescue scenario. See

hector_uav_msgs is a message package that contains messages for UAV controller inputs and outputs and some sensor readings not covered by sensor_msgs.

hector_trajectory_server keeps track of tf trajectories extracted from tf data and makes this data accessible via a service and topic.

hector_slam_launch contains launch files for launching hector_slam with different robot systems/setups/postprocessing scenarios.

The hector_slam metapackage that installs hector_mapping and related packages.

hector_sensors_gazebo depends on the necessary plugins for using the sensors from the hector_models repository.

hector_sensors_description contains URDF xacro macros for sensors, so they are easily attachable to robot models and usable in gazebo.

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.

The hebiros_gazebo_plugin package

Models for HEBI components and hebiros

Basic examples for hebiros with no additional dependencies

Advanced examples for hebiros with additional dependencies

The hebiros package

A ROS package providing access to the HEBI C++ API.

The health_metric_collector package

Hardware Interface base class.

ROS package to detect handles.

The handeye package

ROS1 H264 encoder node

Common base code for ROS1/ROS2 H264 encoder node

The gx_sound_player package

The gx_sound_msgs package

The gx_sound package

The gsdf_msgs package