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Tools for teleoperation over limited bandwidth datalinks using ROS
Fork of the Constrained Manipulation Planning Suite (CoMPS) by Dmitry Berenson
Position and velocity controllers for Baxter, designed to run on the onboard computer if needed for efficiency
ROS driver for Softkinetic 3D cameras
Code for motion planning using DVXL-based elastic deformable objects. Includes DVXL libraries, A*, and RRT* planner support.
A system for extracting surfaces from a Point Cloud using ROS and PCL
ROS messages for person trackers
Cartesian pose controllers for the PR2 that run atop the built-in JointTrajectoryAction controllers. Capable of running with with pose provided by internal FK or provided by an external motion capture system.
General ROS Packages and other robot-agnostic code developed at ARC lab.
ROS-Industrial abb meta-package. http://ros.org/wiki/abb
Code for unsupervised online learning (reaching prediction)
ROS package to manage multiresolution voxel grids and update them dynamically from sensor data.
ROS package to support the XTF trajectory file format. C++ and Python libraries are provided.
Control software for the motoman robot
CV code for the Amazon Picking Challenge
Motoman and ROS-Industrial support for the APC
IK solvers for the Motoman robot
ROS-Industrial robotiq meta-package. http://wiki.ros.org/robotiq
Uses MoveIt! to check a trajectory for self-collision and collision with the environment.
Generator for smooth constrained and cartesian paths using MoveIt and OMPL
Cartesian servoing controller for Baxter