jhu-lcsr/lcsr_controllers

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Created almost 11 years ago
Updated about 8 years ago

jhu-lcsr/lcsr_controllers

jhu-lcsr

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Orocos/ROS-based controllers and state estimators for generic hardware interfaces.

handeye_calib_camodocal

Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and several robots including the ur5 and kuka iiwa.

good_robot

"Good Robot! Now Watch This!": Repurposing Reinforcement Learning for Task-to-Task Transfer; and “Good Robot!”: Efficient Reinforcement Learning for Multi-Step Visual Tasks with Sim to Real Transfer

Jupyter Notebook

aruco_hand_eye

Hand-eye calibration integration using aruco_ros and VISP

costar_plan

Integrating learning and task planning for robots with Keras, including simulation, real robot, and multiple dataset support.

sp_segmenter

Superpixel-based semantic segmentation, with object pose estimation and tracking. Provided as a ROS package.

barrett_model

Barrett WAM & BHand-280 CAD and modular URDFs with inertial properties.

rtt_gazebo

Gazebo plugins for running Orocos RTT components in the gazebo process.

reflexxes_type2

A ROS package for building reflexxes in a Catkin workspace

lcsr_nettools

A ROS package containing ROS network analysis tools

rtt_ros_examples

Examples of Orocos RTT and ROS Integration

lcsr_tf_tools

This package contains a bunch of utilities that have been created in the aim to fill some usability gaps in TF.

lcsr_assembly

Simple assembly primitives and simulation.

costar_objects

CoSTAR Project key object models, gazebo kinect simulation and object definitions

object_on_table_segmenter

Segment out objects that are appearing on a table for data collection purposes or for robot manipulation from a pointcloud. ROS package.

reflexxes_controllers

ros_control-based controllers using the reflexxes motion libraries

orocos_barrett

Packages for using the Barrett WAM Robot / BHand with Orocos-based Controllers.

ros_ci_tools

Tools for continuous integration with ROS sources

matlab_urdf

Matlab code for loading a ROS URDF

xenomai_ros

Configuration and macros for building Xenomai applications with ROS.

lcsr_barrett

LCSR Barrett configuration and scripts

vrep_ros_arm_controller

Tools and tests for controlling VREP simulation from ROS.

lcsr_camera_models

URDF, Gazebo, and optical models for various monocular and stereo cameras.

optical-tracker-utilities

lcsr_image_tools

ROS packages for various kinds of image pipelines

rviz_teleop_camera_plugin

This package contains an RViz display plugin which enables the display of stereo camera image streams on 3D display hardware.

orocos_barrett_components

Orocos/RTT components for interfacing with Barret WAM and BHand hardware supported by libbarrett.

moveit_collision_checker

lcsr_perception

Tools for machine perception and data collection.

chomp_generator

rtt_ros_control

[WIP] A set of Orocos RTT components for loading ros_control-based controllers into a real-time Orocos process.

rosbuild_xenomai

This is a package for more easily building rosbuild-based ROS packages with the Xenomai realtime kernel

open_hand_project_model

OpenHand Project Gripper Models

orocos_barrett_msgs

lcsr_ros_orocos_tools

A collection of tools for better integration of ROS and OROCOS

orocos_phantom

Orocos RTT components for interfacing with the Sensable Phantom Haptic Interfaces

barrett_moveit

MoveIt! configuration and tools for the Barrett WAM Robot

libfreenect2_ros_grabber

Simple Kinect 2 / xbox One kinect ros point cloud2 publisher

greedy_objrec_ransac

Use TUM MVP object RANSAC to find object poses in a pointcloud.