This repository contains message and service definitions used for mavs. All future message definitions go in here, existing ones in other stacks should be moved here where possible.
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kalibr
The Kalibr visual-inertial calibration toolboxmaplab
A Modular and Multi-Modal Mapping Frameworkvoxblox
A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.rotors_simulator
RotorS is a UAV gazebo simulatorokvis
OKVIS: Open Keyframe-based Visual-Inertial SLAM.rovio
segmap
A map representation based on 3D segmentsethzasl_msf
MSF - Modular framework for multi sensor fusion based on an Extended Kalman Filter (EKF)lidar_align
A simple method for finding the extrinsic calibration between a 3D lidar and a 6-dof pose sensorhfnet
From Coarse to Fine: Robust Hierarchical Localization at Large Scale with HF-Net (https://arxiv.org/abs/1812.03506)aerial_mapper
Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVsrobust_point_cloud_registration
Robust Point Cloud Registration Using Iterative Probabilistic Data Associations ("Robust ICP")mav_trajectory_generation
Polynomial trajectory generation and optimization, especially for rotary-wing MAVs.mav_active_3d_planning
Modular framework for online informative path planning.voxgraph
Voxblox-based Pose graph optimizationpolygon_coverage_planning
Coverage planning in general polygons with holes.mav_voxblox_planning
MAV planning tools using voxblox as the map representation.hand_eye_calibration
Python tools to perform time-synchronization and hand-eye calibration.voxblox-plusplus
A volumetric object-level semantic mapping framework.dynablox
Real-time detection of diverse dynamic objects in complex environments.mav_control_rw
Control strategies for rotary wing Micro Aerial Vehicles using ROSethzasl_sensor_fusion
time delay single and multi sensor fusion framework based on an EKFnbvplanner
A real-time capable exploration and inspection path planner (next best view planning)ethzasl_icp_mapping
3D mapping tools for robotic applicationspanoptic_mapping
A flexible submap-based framework towards spatio-temporally consistent volumetric mapping and scene understanding.okvis_ros
OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)laser_slam
This package provides an end-to-end system to laser-based graph SLAM using laser point clouds.versavis
An Open Versatile Multi-Camera Visual-Inertial Sensor Suiteimage_undistort
A compact package for undistorting images directly from kalibr calibration files. Can also perform dense stereo estimationkitti_to_rosbag
Dataset tools for working with the KITTI dataset raw data ( http://www.cvlibs.net/datasets/kitti/raw_data.php ) and converting it to a ROS bag. Also allows a library for direct access to poses, velodyne scans, and images.ethzasl_ptam
Modified version of Parallel Tracking and Mapping (PTAM)geodetic_utils
Simple library for converting coordinates to/from several geodetic frames (lat/lon, ECEF, ENU, NED, etc.)wavemap
Fast, efficient and accurate multi-resolution, multi-sensor 3D occupancy mappingcblox
Voxblox-based submappingaslam_cv2
volumetric_mapping
A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.vgn
Real-time 6 DOF grasp detection in clutter.hierarchical_loc
Deep image retrieval for efficient 6-DoF localizationorb_slam_2_ros
ROS interface for ORBSLAM2!!glocal_exploration
Efficient local and global exploration on submap collections with changing past pose estimates.mav_dji_ros_interface
Interface of DJI autopilot based on its OSDK (3.2)programming_guidelines
This repository contains style-guides, discussions, eclipse/emacs auto-formatter for commonly used programming languagestsdf-plusplus
TSDF++: A Multi-Object Formulation for Dynamic Object Tracking and Reconstructionodom_predictor
Integrates an IMU to predict future odometry readingslidar_undistortion
Catkin package that provides lidar motion undistortion based on an external 6DoF pose estimation input.depth_segmentation
A collection of segmentation methods working on depth imagesneuralblox
Real-time Neural Representation Fusion for Robust Volumetric Mappinggrid_map_geo
Geolocalization for grid map using GDAL.phaser
A robust pointcloud registration pipeline based on correlation.eth_supermegabot
Instructions for ETH center for robotics summer school 2019.StructuralInspectionPlanner
ASL Structural Inspection Plannerwaypoint_navigator
Stand-alone waypoint navigatorethzasl_xsens_driver
Driver for xsens IMUsmav_tools_public
General launch files, parameters and wiki entries on our systems and related issuesreinmav-gym
Reinforcement Learning framework for MAVs using the OpenAI Gym environmentminkindr
A minimal library for transformations, following the kindr interface. Uses active quaternions of rotation in Hamilton notation.cuckoo_time_translator
algorithms for synchronizing clocksdata-driven-dynamics
Data Driven Dynamics Modeling for Aerial Vehiclessl_sensor
SL Sensor: An open-source, real-time and ROS-based structured light sensor for high accuracy construction robotic applicationsethz_piksi_ros
ROS drivers for the Piksi RTK GPS moduleunreal_airsim
Simulation interface to Unreal Engine 4 based on the AirSim plugin.vicon_bridge
This is a driver providing data from VICON motion capture systems. It is based on the vicon_mocap package from the starmac stacks. Additionally, it can handle multiple subjects / segments and allows to calibrate an origin of the vehicle(s) as this is somehow tedious with the VICON Tracker.ros-system-monitor
System monitoring tools for ROS.voxblox_ground_truth
Create ground truth voxblox maps from Gazebo worlds or .ply filesnavrep
curves
A library of curves for estimation.schweizer_messer
Programming tools for robotics.time_autosync
Automatically syncs a camera to a rigidly attached IMUs time frameunreal_cv_ros
Unreal CV ROS Perception Simulatorai_for_robotics
Programming Exercises Accompanying the Lecture "Artificial Intelligence for Robotics"lcd
Line Clustering and Description for Place Recognitiontrajectory_toolkit
Python tool for analyzing and evaluating trajectory datadataset_tools
Loader for the generic ASL dataset formats.rl-navigation
asl-student-templates
Templates and overview information for student projects at ASLlibseekthermal
Driver library for Seek Thermal imaging devicesplotty
matplotlib-cpp with Eigen interfaces.3d_vsg
3D Variable Scene Graphs for long-term semantic scene change prediction.terrain-navigation
Repository for Safe Low Altitude Navigation in steep terrain for fixed-wing Aerial Vehicles (RA-L Submission)forest_gen
Generates randomized Poisson forests to use for UAV collision avoidance evaluations.sampling_based_control
tmplanner
Terrain monitoring plannerreactive_avoidance
Reactive obstacle avoidance using raytracing or lidars3d3l
Deep Learned Keypoint Detection and Description for 3D LiDARsvisensor_node
Visual inertial SLAM sensor ROS node.maplab_rovio
Hard-fork of ROVIO to integrate localization.autolabel
A project for computing high-quality ground truth training examples for RGB-D data.active_grasp
Closed-loop next-best view planning for grasp detection in clutter.two_state_information_filter
ssc_exploration
Incremental 3D Scene Completion for Safe and Efficient Exploration Mapping and PlanningLearn-to-Calibrate
We utilize deep reinforcement learning to obtain favorable trajectories for visual-inertial system calibration.rtklibros
rtklib with ros interfacing and adapted feedback from external Kalman filtercvae_exploration_planning
Learning informed sampling distributions and information gains for efficient exploration planning.libvisensor
Low level hardware driver for the visual inertial SLAM sensor.mav_gtsam_estimator
A GTSAM based state estimation framework.mav_system_identification
Matlab scripts to perform system identification for muti-rotor systemsx-view
matlab_trajectory_tools
Tools for enabling quick display and analysis of trajectories and transformations in Matlab.fgsp
3dsnet
3DSNet: Unsupervised Shape-to-shape 3D Style TransferLove Open Source and this site? Check out how you can help us