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Technische Universität Darmstadt ROS Packages (@tu-darmstadt-ros-pkg)

tu-darmstadt-ros-pkg

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hector_slam

hector_slam contains ROS packages related to performing SLAM in unstructed environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.

hector_quadrotor

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

image_projection

image_projection is a ROS package to create various projections from multiple calibrated cameras.

hector_gazebo

hector_gazebo provides packages related to the simulation of robots using gazebo (gazebo plugins, world files etc.).

hector_navigation

hector_navigation provides packages related to navigation of unmanned vehicles in USAR environments.

hector_localization

The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform.

hector_models

hector_models contains (urdf) models of sensors and robot components.

hector_vision

Vision related packages developed within Team Hector/TU Darmstadt

mapstitch

hector_calibration

ROS packages related to calibration of robots and subsystems (cameras, LIDAR, kinematics)

color_cloud_from_image

Color point cloud data from camera images

sbpl_lattice_planner

Fork of sbpl_lattice_planner used by Team Hector

ublox

Provides a ublox_gps node for uBlox GPS receivers and message and serialization packages for the binary UBX protocol.

ps4_stereo_camera

PS4 stereo camera driver using the V4L2 API.

legged_locomotion_library

Repository including all instructions and tutorials how to use the legged locomotion library (L3)

hector_tracked_vehicles_common

Contains packages related to modeling different tracked vehicles used by Team Hector

workspace_scripts

Generic package bringing convenient scripts to work with ROS workspaces

hector_nist_arenas_gazebo

hector_nist_arenas_gazebo provides means for the fast and convenient creation of test scenarios involving parts like those used for NIST standard test methods for response robots.

vehicle_controller

Controller for wheeled and tracked vehicles

cartographer_hector_tracker

Provides Taurob Tracker (Team Hector variant) integration for Cartographer.

hector_laserscan_to_pointcloud

Converts LIDAR data to pointcloud, optionally performing high fidelity projection and removing scan shadow/veiling points in the process

3d_coverage_path_planning

Global path planning that generates an optimal path for an autonomous mobile ground robot to cover a prior 3D mesh model with a sensor payload. Code to the paper "3D Coverage Path Planning for Efficient Construction Progress Monitoring." in IEEE SSRR 2022.

cpp_introspection

hector_small_arm_common

ROS Packages used for the small lightweight Dynamixel RX motor based arm used by Team Hector

hector_camera_control

Packages related to controlling an pan/tilt camera head (output to ros_control based controllers)

affw_control

Adaptive feed-forward controller for mobile platforms

hector_rviz_overlay

rosmatlab

A stack to enable interoperability between ROS and Matlab/Simulink

hector_cloud_image_proc

Packages related to processing cloud data as (depth) images. Uses both PCL and OpenCV.

taurob_tracker_common

Taurob tracker related common files (including URDF model) analogous to pr2_common

navigation_collision_checker

Provides a package that checks for environment collision with octomap data during navigation of mobile robots

grid_map_2d_mapper

Simple 2D mapping with known poses using the grid_map library

grid_map_navigation_planner

Grid map based navigation planner and tools

hector_stairs_planner

Planner and associated packages for climbing stairs with (tracked) robots.

topic_proxy

topic_proxy implements a ROS service server and client to pull single messages from one master and optionally republish them locally.

hector_trac_ik

Fork of trac_ik mainly for use with manipulators with less than 6 DOF

hector_vehicle_launch

Repository for high level launch files used by Team Hector

blob_tools

blob provides a new message type blob/Blob for binary data.

sdf_contact_estimation

Accurate pose prediction based on Signed Distance Fields for mobile ground robots in rough terrain.

hector_tracker_gazebo

Taurob tracker setup for Gazebo simulation as used by Team Hector. This might depend on some non-public repositories.

hector_ground_truth_gazebo_plugins

Obtain a ground truth from your gazebo world

rotation_aware_traversability_path_planning

Rotation-aware Traversability Path Planning is based on the Legged Locomotion Library (L3). It extends L3 in the following ways: Plugins that consider traversability during path planning; Configs allowing the use of Boston Dynamics' Spot in L3; Conversion of resulting L3 step plans into Follow Path Actions.

hector_radiation_mapping

2D and 3D radiation mapping for mobile robots.

hector_teleop

Packages related to teleoperation of robots

l3_footstep_planning

grid_map_proc

Various grid map processing functionality

move_base_lite

Experimental move_base substitute that aims at reducing complexity

moveit_kinematics_plugin_benchmark

Tools for benchmarking moveit kinematics plugins

hector_turtlebot

hector_turtlebot contains packages related to simulating Turtlebots as used by Team Hector (for example with additional LIDAR sensors)

hector_multisensor_head_driver

Provides bringup system for the (real) hector_multisensor_head

pose_to_pose_with_covariance

Converts a geometry_msgs/PoseStamped to geometry_msgs/PoseWithCovarianceStamped with fixed covariance.

hector_quadrotor_apps

hector_quadrotor_apps contains demo packages that demonstrate the usage of the hector_quadrotor stack together with other useful stacks and packages.

hector_worldmodel

The hector_worldmodel stack helps to collect and fuse information about objects in the world.

hector_tracker_robot

Hector Tracker specific components that are used in bringing up a robot (analogous to pr2_robot)

robot_self_filter

hector_rough_terrain_planning

Tools for planning over rough terrain

dynamixel_workbench_ros_control

ros_control wrapper for dynamixel_workbench

scan_matching_benchmark

hector_quadrotor_experimental

hector_quadrotor_experimental contains experimental packages that are related to the hector_quadrotor stack.

hector_mpu6050_imu_driver

hector_rqt_multiplot_config

Configuration and launch files for rqt_multiplot

hector_model_conversions

Packages related to the conversion of 3d models to different representations.

mapstitch_data

Contains data for experimenting with map stitching

hector_pseye_camera

Camera driver (node and nodelet) for efficiently retrieving monochrome images from PS Eye cameras

hector_cloud_proc

Packages related to cloud processing

hector_senseair_s8_driver

uxvcos

The Unmanned Vehicle Control System.

l3_core

hector_generic_rqt_widgets

rqt-based widget using generic message for common use cases

hector_flexbe_behavior

Contains FlexBE behavior packages for Hector USAR robots

e_stop_manager

The E-Stop Manager merges multiple E-Stop sources.

hector_tracker_launch

High level launch files for the hector tracker robot

motion_editor

Tool for creating keyframe-based motions for robots.

simox

Fork of https://gitlab.com/Simox/simox

hector_dynamixel_ros_control_wrapper

camera_model_loader

Camera model loader for (at this point) kalibr-based camera calibration

hector_perception

Perception related ROS packages

hector_visualization

The hector_visualization stack is a collection of packages that provide some sort of visualization add-ons, e.g. rviz plugins for message types used in other hector packages.

environment_models

Provides generic (URDF) models of environments and elements that can be spawned into them (mainly for use with Gazebo).

autonomous_stair_traversal_tutorial

Repo providing a ROS workspace setup that allows for the simulation of a tracked robot capable of autonomous stair climbing

hector_diagnostics

Some helpers to diagnose the runtime behavior of nodes

pointcloud_accumulator

Nodelet to build an ikd-Tree from incoming PointCloud messages to build a downsampled cloud of the complete environment.

l3_terrain_modeling

moveit_joystick_control

Direct end-effector control using a joystick based on the moveit inverse kinematics interface.

hector_filter_nodelets

Filter chain nodelets based on [filters](http://wiki.ros.org/filters)

hector_openni2_camera

Modified version of openni2_camera, that allows streaming of depth and rgb data with different rates. Also checks for platform movement before publishing via tf

gazebo_ros_control_select_joints

Hardware interface that allows for selecting the controlled joints (unlike the standard default_robot_hw_sim which grabs all transmissions available in the model)

robot_mesh_localization

Robust 3D localization of mobile robots in a building mesh using Lidar and depth sensors.

l3_navigation

centaur_robot_tutorial

Repo containing a full simulation setup for a centaur type (humanoid upper body, tracked base) robot.