Explore @robotics-upo Open Source projects

Service Robotics Lab (@robotics-upo)

robotics-upo

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dll

DLL: Direct Lidar Localization

plane_detector

Implementation of the fast plane detector as described in the paper "Fast Plane Detection and Polygonalization in noisy 3D Range Images", of Poppinga et al. (IROS 2008)

Heuristic_path_planners

Collection of classes and functions to allow 2D/3D path generation with heuristic algorithms such as A*, Theta* and LazyTheta* and ROS Interfaces

upo_robot_navigation

Metapackage of ROS that contains the packages involved in the navigation system of the UPO robotics lab

gazebo_sfm_plugin

A plugin for simulation of human pedestrians in ROS Gazebo

lightsfm

A lightweight Social Force Model library

social_force_window_planner

Local controller based on DWA which uses Social Force Model (SFM) as predictor

dynamic_obstacle_detector

A simple (but effective) detector of dynamic obstacles in laser scans.

hunav_sim

A simulator of human navigation behaviors for Robotics based on ROS2

topological-montecarlo-localization

Global Monte Carlo-based localization from GIS-based graphs

nav2_social_costmap_plugin

Plugin-based layer for social navigation in the Nav2 system of ROS2

hunav_gazebo_wrapper

A ROS2 wrapper to use the HuNavSim with the Gazebo Simulator

laserscan_merger

A simple ROS node to fuse different lasercan sources in a single laserscan message in a given frame.

range_only_localization

ROS package for robot localization and mapping based on range-only sensors

upo_nav_irl

A C++ implementation of the IRL algorithms RTIRL and RLT. These algorithms replace the MDP framework by a RRT* planner.

nonlinear_optimization

Several ROS Packages for nonlinear optimization including levenberg-marquardt, sparse levenberg-marquardt and bundle adjustment.

RRT_MEDIRL

RRT_MEDIRL implementation for Tensorflow

sfm_local_controller

A robot local controller based on the Social Force Model (SFM)

cloud_concatenator

A lightweight package to concatenate up to 9 point clouds. By Luis Merino and David Alejo.

2DLaserPeopleBenchmark

Benchmark codebase for 2D range finder based people detectors using the FROG dataset

lightpomcp

A lightweight implementation of the POMCP algorithm

rgbd_odom

ROS package for robust odometry estimation based on RGBD data

og-sgg

Ontology-Guided Scene Graph Generation

upo_fcn_learning

Package that contains the scripts needed to perform training of a Fully Convolutional Network for the task of robot path planning.

ars548_ros

ROS2 driver for the Continental ARS548 Radar 4D

siar_packages

This includes packages that have been developed in the SIAR project from the Sewer Inspection Urban Challenge of the Echord++ FP7 project. It will also refactor the developments in order to make each piece of the system easier to install.

arduimu_v3

This module reads and filters the measures from a ARDUIMU_V3 device to standard ROS messages. Implements EKF-based filtering to robustly estimate the orientation, velocities and accelerations.

marsupial_optimizer

depth2cloud

Basic ROS module for translating depth images to point clouds with interesting properties such as ROI, etc

seekthermaltemp

ROS node to obtain temperatures from raw data's thermal camera Seek thermal

dbscan_line

A simple algorithm to clusterize 2D points into lines and then dense-objects

teresa-wsbs

TERESA Walking side-by-side package

pedlab

A custom pedestrian simulator

libelium_waspmote_gas_node

Ros node that reads the data acquired by a LIbelium Waspmote PRO OEM sensor and publishes a custom message with all the compiled information.

lazy_theta_star_planners

2D of lazy theta star algorithm

marsupial_simulator

Initial simulation Version for Tethered Marsupial System

laserscan_labeler

Tool for labeling laser scan data from ROS bags

string2marker

Simple Tool to generate a RViz marker from a string topic

fire_node

Detect fire using Python, ROS, and OpenCV

bag2mp4

Simple Tools to generate images and videos from a ROS bag file

nix_simulator

Stand-alone package with the developments of the new nix-simulator.

vinodom

Visial Innertial Odometry based on Homography Decomposition

siar_simulator

Radar_experiments

Repository to store configuration files related to the smoke and radar experiments

upo_stage_ros

A modified version of the regular ROS wrapper for the Stage robot simulator

rva-course-material

Course material for the course Robotics and Computer Vision of the Computer Science Bachelor Degree at UPO

Jupyter Notebook

bag_teleop

simple package to easily record bags with joystick buttons