leggedrobotics/ros_best_practices

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leggedrobotics/ros_best_practices

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Best practices, conventions, and tricks for ROS

ROS Best Practices, Conventions and Tricks

Best practices for ROS2 in the making. See the Foxy branch in the meanwhile.

This is a loose collection of best practices, conventions, and tricks for using the Robot Operating System (ROS). It builds up on the official ROS documentation and other resources and is meant as summary and overview.

📚 Read: Head over to the Wiki to get started!
🐛 Report: Share issues you encounter by submitting them.
🔧 Improve: Make these practices even better. Submit a PR to improve a specific topic.

Also, check out the ROS package's ros_package_template/readme.md.

darknet_ros

YOLO ROS: Real-Time Object Detection for ROS

legged_gym

Isaac Gym Environments for Legged Robots

ocs2

Optimal Control for Switched Systems

elevation_mapping_cupy

Elevation Mapping on GPU.

open3d_slam

Pointcloud-based graph SLAM written in C++ using open3D library.

rsl_rl

Fast and simple implementation of RL algorithms, designed to run fully on GPU.

se2_navigation

Pure Pursuit Control and SE(2) Planning

free_gait

An Architecture for the Versatile Control of Legged Robots

traversability_estimation

Traversability mapping for mobile rough terrain navigation

raisimLib

RAISIM, A PHYSICS ENGINE FOR ROBOTICS AND AI RESEARCH

xpp

Visualization of Motions for Legged Robots in ros-rviz

graph_msf

A graph-based multi-sensor fusion framework. It can be used to fuse various relative or absolute measurments with IMU readings in real-time.

icp_localization

This package provides localization in a pre-built map using ICP and odometry (or the IMU measurements).

viplanner

ViPlanner: Visual Semantic Imperative Learning for Local Navigation

delora

Self-supervised Deep LiDAR Odometry for Robotic Applications

iPlanner

iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel unsupervised imperative learning approach

SimBenchmark

Physics engine benchmark for robotics applications: RaiSim vs Bullet vs ODE vs MuJoCo vs DartSim

learning_quadrupedal_locomotion_over_challenging_terrain_supplementary

Supplementary materials for "Learning Locomotion over Challenging Terrain"

raisimGym

art_planner

Local Navigation Planner for Legged Robots

perceptive_mpc

Code for "Perceptive Model Predictive Control for Continuous Mobile Manipulation"

wild_visual_navigation

Wild Visual Navigation: A system for fast traversability learning via pre-trained models and online self-supervision

tensorflow-cpp

Pre-built TensorFlow for C/C++ and CMake.

terrain-generator

vitruvio

Vitruvio is a framework for rapid leg design analysis and optimization for legged robots. The purpose of the simulation framework is to guide the early stages of legged robot design. The end effectors track an input trajectory and the necessary joint speed, torque, power and energy for the tracking is computed.

L3E

Learning-based localizability estimation for robust LiDAR localization.

elmo_ethercat_sdk

MPC-Net

Accompanying code for the publication "MPC-Net: A First Principles Guided Policy Search"

tree_detection

This package implements a simple tree detector from point cloud data. It makes no assumptions about the ground plane and can handle arbitrary terrains.

rayen

Imposition of Hard Convex Constraints on Neural Networks

raisimOgre

https://rsl.ethz.ch/partnership/spinoff/raisim.html

smug_planner

noesis

A Reinforcement Learning Software Toolbox for Robotics

RSLGym

Reinforcement learning framework from RSL for policy training with RaiSim.

hardware_time_sync

Guidelines on how to hardware synchronize the time of multiple sensors, e.g., IMU, cameras, etc.

anomaly_navigation

Anomaly Navigation - ANNA

cerberus_darpa_subt_datasets

Datasets collected by Team CERBERUS during the DARPA Subterranean Challenge

RaiSimUnity

A visualizer for RaiSim based on Unity

raw_image_pipeline

Image processing pipeline for cameras that provide raw data

soem_interface

This software package serves as a C++ interface for one or more EtherCAT devices running on the same bus. The lower level EtherCAT communication is handled by the SOEM library.

tcan

A library to communicate to devices connected through CAN, EtherCat, USB or TCP/IP.

swerve_steering

workflows

Collection of workflows, best-practices and guidelines for software development.

radiance_field_ros

Implementation of Radiance Fields for Robotic Teleoperation

terra

A grid world environment for high-level earthworks planning in JAX for RL.

urdf2robcogen

A tool that translates a robot URDF description into the kindsl format that can be processed by RobCoGen.

maxon_epos_ethercat_sdk

Implementation of an ethercat device driver for the maxon epos 4

self_supervised_segmentation

ocs2_robotic_assets

Various robotic assets for OCS2 Toolbox

cerberus_anymal_locomotion

cuda_ue4_linux

ethercat_sdk_master

A wrapper around SOEM to allow multiple masters and devices on EtherCAT

ethercat_device_configurator

Manages setup yaml files for the RSL ethercat infrastructure

lunar_planner

pytictac

Simple Timing Utils

catkin_create_rqt

An RQT plugin generator script, supporting several arguments to generate a rqt plugin for ROS, similar to catkin_create_pkg

rl-blindloco

Project page for Science Robotics paper "Learning Quadrupedal Locomotion over Challenging Terrain"

learning_docker

any_ping_indicator

An Ubuntu indicator applet to show the ping status.

plr-exercise

terra-baselines

Train, visualize, and evaluate RL policies for the Terra environment.

rsl_heap

anymal_brax

perfectlyconstrained

Official implementations from the paper "Should We Relax a Bit? A Study on Degeneracy Mitigation in Point Cloud Registration"

unity_ros_teleoperation

gtsam_catkin

Catkinized version of gtsam.

digbench

Benchmarks and map generation for the Terra environment.

mobile_manipulation

Under construction

realsense_eth_robotics_summer_school_2019

Launch files and utility nodes for running the Realsense on SMB

xpp-release

Release repository of the xpp repo, necessary for ros hosting.

rsl_panoptic_mapping

rsl_panoptic

pretrained_depth_embedders

darknet_ros-release

webapp-container

Scripts and tools to containerize a PHP-FPM, Nginx, Redis web-application ⚙️