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This includes packages that have been developed in the SIAR project from the Sewer Inspection Urban Challenge of the Echord++ FP7 project. It will also refactor the developments in order to make each piece of the system easier to install.
Behavior Trees Library in C++.
Graphical Editor to create BehaviorTrees. Compliant with BehaviorTree.CPP
Developments necessary for using several RGB-D cameras at the same time (tested with Orbbec Astra and Astra S models)
ROS basic package for performing basic flip to a image flow.
This module reads and filters the measures from a ARDUIMU_V3 device to standard ROS messages. Implements EKF-based filtering to robustly estimate the orientation, velocities and accelerations.
Basic ROS module for translating depth images to point clouds with interesting properties such as ROI, etc
OCELLIMAV Project data and scripts
ParticleFilter-based localization for the SIAR Platform
Some scripts for handling bags filtering stuff
ROS package for robust odometry estimation based on RGBD data
Implementation of the fast plane detector as described in the paper "Fast Plane Detection and Polygonalization in noisy 3D Range Images", of Poppinga et al. (IROS 2018)
ROS Publisher Node using ORB-SLAM2
Ros node that reads the data acquired by a LIbelium Waspmote PRO OEM sensor and publishes a custom message with all the compiled information.
Tools for using the Kinect One (Kinect v2) in ROS
Several ROS Packages for nonlinear optimization including levenberg-marquardt, sparse levenberg-marquardt and bundle adjustment.
RRT_MEDIRL implementation for Tensorflow
General purpose functions, for making UPO's developers life easier (or try to)
A C++ implementation of the IRL algorithms RTIRL and RLT. These algorithms replace the MDP framework by a RRT* planner.
A modified version of the regular ROS wrapper for the Stage robot simulator
Package that contains the scripts needed to perform training of a Fully Convolutional Network for the task of robot path planning.
ROS driver for the Matrix Vision mvBlueFOX cameras
Metapackage of ROS that contains the packages involved in the navigation system of the UPO robotics lab
Software package and ROS wrappers of the Aruco Augmented Reality marker detector library
Display internet satellite imagery in RViz
A custom pedestrian simulator
A lightweight Social Force Model library
TERESA Walking side-by-side package