The ARUCO Library has been developed by the Ava group of the Univeristy of Cordoba(Spain). It provides real-time marker based 3D pose estimation using AR markers.

SMACH, which stands for 'state machine', is a task-level architecture for rapidly creating complex robot behavior. At its core, SMACH is a ROS-independent Python library to build hierarchical state machines. SMACH is a new library that takes advantage of very old concepts in order to quickly create robust robot behavior with maintainable and modular code.

This package containes numerous examples of how to use SMACH. See the examples directory.

This package contains a ROS wrapper for the ApproxMVBB library (http://gabyx.github.io/ApproxMVBB/), used to calculate approximated oriented bounding boxes.

This package contains a marker recognition system using the ArUco library. It can be used with a mono or stereo camera system but yields better results with the latter.

This package provides a tool for calibraiting the kinematic chain of the PdB-Dome. It provides a data-tracking for recording 6D positions of Flock of Birds data glove and a checkerboard mounted on it. With this construction, the kinematic chain is closed. The recorded data is written to a file and can be used for the asr_kinematic_chain_optimizer.

This package is used to start a server that provides the current joint state values received from the CyberGloves via ROS topics

This package is used to test the functionalities of the CyberGloves and FlockOfBirds. It uses an URDF model of a human hand to provide a visualization of the glove movements in RViz.

This package contains a 6-DoF object localizer for textured household objects

This package contains a simulated object recognizer which published objects based on preset poses and the current camera frames

asr_flir_ptu_controller is a package to control a flir ptu unit from a action server

asr_flir_ptu_driver is a package for controlling a flir ptu via (external) msg authors: Valerij Wittenbeck, Joachim Gehrung, Pascal Meissner, Patrick Schlosser

The asr_flock_of_birds package is the driver for Ascension Technology Corp magnet-tracking system "Flock of Birds". It provides the remote server which publishes two 6d posemarker and the nessesary TF from the magnettracking system. It also contains launchfiles and calibration tools for the use of it.

This package provides a tool which tracks the motion of the Flock of Birds data glove and moves the PTU to follow it. With this tool, the data glove is always in the middle of the camera view and the manipulations of objects can be tracked easily.

A local planner which based on the "follow the carrot" algorithm. Drives accurate along the global plan

This package provides our gazebo_models

This package is used to convert between image-messages of the ROS environment and HALCON-images.

Ros wrapper for the Integrated Vision Toolkit (IVT) library (version 1.3.22)

This package is used to convert between ROS messages and IVT images

This package provides information about the PbD dome's kinematic chain and contains launch-files to publish the chain to a robot_state_publisher. Available launchfiles are: dome with real PTU, dome with simulated PTU, dome with real PTU and Flock of Birds and additional transformation_publisher from guppy-cameras to the kinect cameras mounted above. It also contains the urdf model.

This package calculates the best approximation for a kinematic chain's parameters using rosenbrock optimization. For calculation, a layout of the kinematic chain must be provided, as well as a set of transformations between two frames of the chain that has been acquired during calibration.

This package calculates and publishes the odometry information, transforms the velocity command into differential drive commands and writes it on the mild_base_driving bus

The asr_mild_base_fake_driving package

This package provides streams of laser scan messages in cartesian coordinates from a planar sick laser scanner.

This package contains the launch files and different documents needed to start the system

A tool to calibrate the relative frames between the mild's laserscanner and the cameras

This package provides information about the mild's kinematic chain and contains launch-files to publish the chain to a robot_state_publisher

The mild_navigation package. Launchfiles to start the navigation relevant nodes. Parameter for navigation and maps.

This package contains all messages that are particular to our Active Scene Recognition - Framework at Humanoids and Intelligence Systems Lab (HIS), Karlsruhe Institute of Technology (KIT). These messages make up the interfaces between the different collaborating components of this system. They are of critical importance and structured by the ROS communication capabilities.

navfn provides a fast interpolated navigation function that can be used to create plans for a mobile base. The planner assumes a circular robot and operates on a costmap to find a minimum cost plan from a start point to an end point in a grid. The navigation function is computed with Dijkstra's algorithm, but support for an A* heuristic may also be added in the near future. navfn also provides a ROS wrapper for the navfn planner that adheres to the nav_core::BaseGlobalPlanner interface specified in

This package is used to store and provide objects and their information

This package contains a Ros wrapper for RapidXML (version 1.13)

This package holds bits and pieces that are related to the acquisition of color and depth-image data streams with robot heads. Currently, it contains a hierarchy of launch scripts to start up simultaneous data acquisition from complex setups of vision sensors as encountered on robot heads (e.g. RGB-D in combination with a color camera or a stereo camera setup).

Packages to control and visualize our robot. Includes packages you can use for drives your robot.

This package provides services to perform calculations related to the mild's kinematic model.

The asr_ros_uri package delivers functionality equally to resource_finder. With one exception: It doesn't load the resource into memory but just delivers the uri path to a given file or a file path for a given uri.

This package is used to get poses from Rviz by using the goal tool and to store them in an XML-file

This package is used to access the sick lms400 laser range-finder. It contains all necessary functionality to communicate with the sensor via rosmessages.

This package is used for the visualization of the models in the dome/mild environment

This package is used to generate C++ classes (headers) mapped to the components of an input XML Schema

assimp library

ROS interface to the Google Assistant

The assisted_teleop node subscribes to a desired trajectory topic (geometry_msgs/Twist) and uses TrajectoryPlannerROS to find a valid trajectory close to the desired trajectory before republishing. Useful for filtering teleop commands while avoiding obstacles. This package also contains LaserScanMaxRangeFilter, which is a LaserScan filter plugin that takes max range values in a scan and turns them into valid values that are slightly less than max range.

Drivers for Orbbec Astra Devices.

Drivers for Orbbec Astra Devices.