Software

Many open source software packages have been developed at the Personal Robotics Lab in support of our research. This page describes our core packages, and also includes documentation on how to setup a development environment to use them.

Guides

• Computer Setup and Dependencies
• Setting Up a Development Environment
• Unit Testing

Software List

Most of our public software is hosted on GitHub.

• Core Packages
  • AIKIDO - AIKIDO is a C++ library for solving robotic motion planning and decision making problems. This library is tightly integrated with DART for kinematic/dynamics calculations and OMPL for motion planning. AIKIDO optionally integrates with ROS for execution on real robots.
  • pr_ompl - Collection of motion planning algorithm implementations for the Open Motion Planning Library (OMPL).
• AIKIDO Plugins / Utilities
  • pr_assets - Object models used by the Personal Robotics Lab.
  • pr_tsr - Common task space regions used by the Personal Robotics Lab.
  • pose_estimators - ROS interface for Python pose detectors.
• Perception
  • k2_bridge - Windows-Linux bridge for subscribing to Kinect 2 data via ROS.
• Controllers
  • rewd_controllers - Inverse dynamics ROS controllers.
  • pr_ros_controllers - ros_control controller plugins developed by the Personal Robotics Lab.
• HERB-Specific Packages
  • herb_description - URDF and SRDF descriptions of HERB.
  • herb_launch - Launch files for HERB.
  • libherb - C++ library for interacting with HERB.
  • libbarrett - Library for real-time communication with the Barrett WAM and BarrettHand, updated for Xenomai 3.
  • barrett_ros_control - ros_control hardware interface for the Barrett WAM and BarrettHand.
  • schunk_neck - ros_control hardware interface for the Schunk PW70 pan-tilt actuator.
• ADA-Specific Packages
  • ada_description - URDF and SRDF descriptions of ADA.
  • ada_launch - Launch files for ADA.
  • libada - C++ library for interacting with ADA.
  • jaco_hardware - ros_control hardware interfaces for the Kinova Jaco arm.