This project is a modularized software framework for use with humanoid robot development and research. The modularized platform separates low level components that vary from robot to robot from the high level logic that does not vary across robots. The low level components include processes to communicate with motors and sensors on the robot, including the camera. The high level components include the state machines that control how the humanoids move around and process sensor data. By separating into these levels, we achieve a more adaptable system that is easily ported to different humanoids.
The project began with the University of Pennsylvania RoboCup code base from the 2011 RoboCup season and is continuing to evolve into an ever more generalized and versatile robot software framework.
The GitHub Wiki hosts the main source of documentation for this project: - https://github.com/UPenn-RoboCup/UPennalizers/wiki
Copyright and License
All code sources associated with this project are freely available under the GPLv3 license.
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.