Class definitions and a few convenience functions for interfacing with a specific SQL database, containing 3D models of a set of common household objects.

A ROS node that controls a hostapd-based access point. It is mainly intended for use with a wireless network adapter running in master mode. It implements the dynamic_reconfigure interface defined in the [[access_point_control]] package.

The homer_navigation package

The nav_libs package

homer_mapping

mapnav_msgs

The homer_map_nav pkg installs the homer mapping and navigation component

map_manager

commander interface

A ROS node to provide access to SCIP 2.0-compliant Hokuyo laser range finders (including 04LX).

ROS driver node for HOKUYO 3D LIDARs

This package provides RPC (Remote Procedure Call) server feature for higher level of robot operations for the Hironx-variant robots (i.e. Hironx, NEXTAGE Open).

ROS topic/service/action files are defined in this package for Hironx RPC (Remote Procedure Call).

This package suite provides RPC (Remote Procedure Call) feature for higher level of robot operations for the Hironx-variant robots (i.e. Hironx, NEXTAGE Open).

ROS-OpenRTM interfacing package for the opensource version of Kawada's Hiro/NEXTAGE dual-arm robot. NOTE: This package is multi-license -- pay attention to file header in each file where license is declared. For Creative Commons nc 4.0 applied, see

An automatically generated package with all the configuration and launch files for using the HiroNX with the MoveIt Motion Planning Framework

Launch and configuration files for calibrating hironx using the generic

Visualization and rviz helpers for Heron.

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

The heron_desktop metapackage

URDF description 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_quadrotor_teleop enables quadrotor flying with a joystick by processing joy/Joy messages and translating them to geometry_msgs/Twist.

hector_quadrotor_pose_estimation provides a

hector_quadrotor_model provides libraries that model several aspects of quadrotor dynamics.

hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity using a geometry_msgs/Twist message for teleoperation just by means of applying forces and torques to the model.

hector_quadrotor_gazebo provides a quadrotor model for the gazebo simulator. It can be commanded using geometry_msgs/Twist messages.

hector_quadrotor_description provides an URDF model of a quadrotor UAV.

The hector_quadrotor_controller_gazebo package implements the ros_control RobotHWSim interface for the quadrotor controller in package hector_quadrotor_controller.

hector_quadrotor_controller provides libraries and a node for quadrotor control using

hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems

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.