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iri-ros-pkg repository contains ROS related software produced by the Institut de Robòtica i Informàtica Industrial robotics laboratory. The code is licensed under the LGPL. More information can be found in our IRI ROS wiki

Dependencies on IRI software
A lot of stacks or packages from the iri-ros-pkg use non ROS IRI Lab software or drivers. We provide our own ubuntu package repository or instructions about how to download sources and install them on our wiki pages.

iri-ros-pkg

estirabot_robot

Estirabot is a WAM Arm and Barret Hand based robot designed to manipulate deformable objects, like clohting. It was created under the scope of the project INTELLACT (Intelligent observation and execution of Actions and manipulations).

iri_common_drivers

iri_common_drivers

iri_core

Base classes of IRI ROS software.

iri_navigation

Set of algorithms for mobile robot autonomous navigation.

iri_odometry_publisher

iri_odometry_publisher

iri_perception

Set of algorithms for robot perception.

iri_perception_filters

iri_pcl

iri_segway_rmp

This stack contains ROS drivers for Segway RMP 200 and Segway RMP 400 platforms. These drivers are derivated from iri_ros_core, featuring dynamic reconfigure and diagnostics among other tools. IRI Lab Robotica drivers are required to be installed: http://wikiri.upc.es/index.php/Segway_RMP_200_driver and http://wikiri.upc.es/index.php/Segway_RMP_400_driver This stack also contains 3d meshes and URDF files for both platforms, as well as corresponding odometry publisher nodes.

iri_teleop

IRI Teleop Stack

iri_wam

Lots of tools for the WAM arm: fk, ik, calibration ... Driver wrapper interfaces with the NEW libbarrett library

teo_robot

ROS software stack to handle TEO Robot. TEO is a Segway RMP400 based robot used in the project PAU (Perception and Action under Uncertainity).

Currently, the robot is equipped with:

tibi_dabo_robot

Tibi and Dabo are two robots based on Segway RMP200 platforms. Its main task is to provide services of information, guiding and steward to persons in urban spaces. They were originally built under the scope of the project URUS (Ubiquitous Networking Robotics in Urban Settings).

zyonz_robot

Zyonz is a WAM based robot which is designed to work in gardening tasks. It was originally created to work under the scope of the project GARNICS: Gardening with a cognitive system).


2011-11-19 12:25