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

hector_qrcode_detection searches for QR codes in images using the

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_path_follower provides a node that publishes Twist messages, following a path. Based on the pose_follower package

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_nist_arena_worlds by default contains NIST standard test arena scenarios created using the hector_nist_arena_designer GUI.

hector_nist_arena_elements contains models of elements/parts used in NIST standard test arenas for response robots. Using these elements, scenarios can be generated for simulation using gazebo.

hector_nist_arena_designer is a simple GUI for the fast and easy creation of test scenarios involving NIST standard test methods for response robots.

hector_nav_msgs contains messages and services used in the hector_slam stack.

hector_motion_detection

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_heat_detection searches for image regions within a specific temperature range. The heat_detection node publishes hector_worldmodel_msgs/ImagePercept messages and serves as an source of input for the

The hector_gps_calibration package

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_exploration_planner is a planner that can both plan paths to goal points and generate goals to explore unknown environments

hector_exploration_node is a node that provides exploration plans via a service server

hector_exploration_controller is a simple controller that requests a plan via a service and generates geometry_msgs/Twist commands accordingly to follow this plan

The hector_elevation_visualization package

The hector_elevation_msgs package contains messages for hector_elevation_mapping and hector_elevation_visualization packages.

hector_elevation_mapping advertises pointclouds and generates a local and/or global 2.5D elevation map

The hector_driving_aid_markers package

hector_costmap provides a 2D occupancy grid map containing all untraversable obstacles. It fuses 2.5D elevation map (provided by hector_elevation_mapping) with the 2D occupancy grid map (provided by hector_slam) for calculating the 2D costmap

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 hector_co2_processing package

The hector_co2_detection_plugin package

The hector_barrel_geotiff_plugin package

The hector_barrel_detection_nodelet package