Discover ctu-mrs/vns_dopn Open Source project

Code for RA-L paper "RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation"

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RMS

Examples for individual ROS2 functionalities inc. Subscribers, Publishers, Timers, Services, Parameters. ...

ros2_examples

The main integrator of MRS UAV packages in ROS, part of the "mrs_uav_system".

uav_core

The OLD Gazebo Simulation repository.

simulation

Tracking controllers for UAVs in ROS, part of the "uav_core" package.

mrs_uav_controllers

UAV reference trackers in ROS, part of the "uav_core" package.

mrs_uav_trackers

2022 IEEE RAS Summer School on Multi-Robot Systems

summer-school-2022

2024 IEEE RAS Summer School on Multi-Robot Systems

summer-school-2024

spheremap

Singularity definitions, scripts and resources for the MRS UAV System.

mrs_singularity

Space-Filling Forest* for milti-goal path planning

space_filling_forest_star

UAV sensor fusion in ROS, part of the "uav_core" package.

mrs_uav_odometry

Energy-aware Multi-UAV Coverage Mission Planning with Optimal Speed of Flight

EnergyAwareMCPP

Cheatsheet for the "mrs_uav_system", ROS, Linux, Tmux, Vim and more.

mrs_cheatsheet

TeX

mtsp_planning_task

A path-planning task for the summer school based on the Multiple Traveling Salesman Problem (MTSP)

Metapackage for the MRS UAV Gazebo simulation pipeline.

mrs_uav_gazebo_simulation

Jinja

mrs_gazebo_common_resources

Resources for Gazebo/ROS simulator, part of the "simulation" package.

CTopPRM

Datasets for laser-based SLAM running on-board UAVs.

slam_datasets

2023 IEEE RAS Summer School on Multi-Robot Systems

summer-school-2023

Metapackage containing MRS Octomap-based 3D mapper and planner.

mrs_octomap_mapping_planning

This repository contains the TMUX scripts to run the Gazebo simulations and real-world experiments for the paper entitled "PACNav: A Communication and External Localization Free Collective Swarm of UAVs"

pacnav

The ROS part of the "simulation" package.

mrs_simulation

Jinja

mrs_octomap_planner

Octomap-based planner for UAVs.

UVDAR is a system for mutual UAV localization using Ultra-Violet LED blinkers. This package contains the core software for using it onboard of MAVs (drones)

uvdar_core

High-level UAV managers in ROS, part of the "uav_core" package.

mrs_uav_managers

Gazebo models and worlds for Aerial-Core project.

aerialcore_simulation

Example ROS package for computer vision, part of the "mrs_uav_system".

mrs_computer_vision_examples

Modified Ouster lidar driver. Changed to nodelet structure.

ouster

Seminar task for the MRS Summer school 2020. The goal is to develop a controller for a follower drone in order to keep up with an evading leader drone.

leader_follower_task

Part of the leader_follower_task. All your coding and changes should happen in this package

uvdar_leader_follower

A ROS node for detection of colorful objects using LUT segmentation.

object_detect

Minimalistic ROS node for simulating quadrotor dynamics, part of the "mrs_uav_core" package.

mrs_multirotor_simulator

TUI status & control bar for UAVs in ROS, part of the "uav_core" package.

mrs_uav_status

UAV C++ libraries, mostly ROS-related, part of the "mrs_uav_core" package.

mrs_lib

Implementation of a multi-target tracking and filtering and multi-source fusion algorithm.

uav_localize

Marker-less UAV detection project.

uav_detect

mrs_serial

A serial line interface to ROS. Communicates using the BACA protocol.

Custom RVIZ plugins. Part of the "mrs_uav_core".

mrs_rviz_plugins

Example ROS package that showcases the work with the "mrs_uav_system".

example_ros_uav

Aggregator of sensor data for robot obstacle bumper. Part of the "uav_core" package.

mrs_bumper

MRS ROS messages, part of the "uav_core" package.

mrs_msgs

CMake

mrs_vins_imu_filter

Filtering of IMU data to be used in VINS algorithms

Tools for OctoMap visualization and manipulation.

mrs_octomap_tools

Integrates other example packages. Part of the "mrs_uav_system".

mrs_core_examples

Heterogeneous UAV dataset

coop_uav_dataset

Mission control, Visual detection, Estimation, Mapping and Planning for the wall building challenge of the MBZIRC 2020 competition.

mbzirc_2020_wall_building

JavaScript

subt_ign_resources

Model and world files for ignition Gazebo related to the DARPA SubT Virtual Challenge

ROS metapackage for UAV control, state estimation, trajectory generation and tracking.

mrs_uav_core

mrs_uav_unreal_simulation

Gazebo plugin for emulating the output of UV-sensitive cameras with fisheye lenses

uvdar_gazebo_plugin

Resources for Gazebo/ROS simulator that depends on packages (e.g., mrs_msgs, mrs_lib) inside of the MRS system. This is additional part to the "simulation" package.

mrs_gazebo_extras_resources

Implementation of the re-prediction algorithm for fusion of variably delayed data.

repredictor

UAV state estimators in ROS, part of the "mrs_uav_core" package.

mrs_uav_state_estimators

Distributed formation-enforcing control for UAVs robust to observation noise in relative pose measurements

difec-ron

Optic flow for UAV odometry in ROS.

mrs_optic_flow

Bachelor's / Master's / Doctoral Thesis LaTeX template.

thesis_template

TeX

vision_datasets

Package grouping smaller nodes for processing, filtering, and general online/offline work with pointclouds.

mrs_pcl_tools

A supervisor node for the leader-follower summer school task. Makes sure, that commands produced by the Follower node are reasonable.

summer_school_supervisor

a ROS driver for the mvBlueFOX3 cameras

bluefox3_ros

mrs_utils

mrs_hw_uvdar

px4_interface

Interface between PX4 and the MRS UAV System.

CTU MRS system Github pages.

ctu-mrs.github.io

Our MRS version of the Livox Mid360 Gazebo plugin.

Mid360_simulation_plugin

A semi-autonomous tool for picking a color in HSV and LAB spectrum for color segmentation and detection based on the ROS RQT plugin.

color_picker

Coppelia simulation metapackage.

mrs_uav_coppelia_simulation

Personal Package Archive (PPA) for MRS deb packages.

ppa-stable

uav_modules

image_labeling_utils

vns-prm-pop

Implementation of Variable Neighborhood Search with asymptotically optimal sampling-based Probabilistic Roadmap for the Physical Orienteering Problem - a problem of planning collision-free trajectory for e.g. a drone that visits predefined target locations in an environment with obstacles

mrs_uav_hw_api

Abstraction layer between the MRS UAV System and a UAV flight controller, part of the "mrs_uav_core" package.

darpa_subt_cnn_training

State estimation plugin based on corrections from the open-vins algorithm. Can be loaded by EstimationManager to be used for state estimation in the control feedback loop.

mrs_manipulator

CMake

mrs_open_vins_estimator_plugin

CMake

sketch4latex

A clone / fork of the Sketch for Latex tool by Eugene Ressler

mrs_mavros_interface

An interface to Mavros, part of the "uav_core" package.

Cooperative Masonry Construction Planner for Wall Building with UAVs

CMCP_wall_building_planner

Simple tool to work with klaxalk's multi-uav simulator. It produces approximate 3D pose estimation of drones in the format and noise properties approximating the UVDAR system.

uvdar_multirobot_simulator

buildfarm_coredumps

mrs_subt_planning_lib