Software
For additional help running our software please see the tutorials page.
Projects |
Description |
Software |
Documentation |
|
SBPL |
no dependencies! |
Repo (git) |
ROS Wiki |
|
SBPL MoveIt! Plugin |
Generic Plugin for MoveIt! |
SBPL Geometry Utilities (git) Leatherman Utilities (git) SBPL Manipulation Package (git) Core Repository (git) |
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Parallelized Search-Based Planning |
no dependencies! |
Repo (git) |
|
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3D Navigation with Full Body Collision Checking |
global planner for move_base, PR2 Only
|
ROS Electric (git) |
ROS Wiki |
|
3D Navigation (“Lattice Planner”) |
global planner for move_base |
ROS Diamondback, Electric (hg) ROS Fuerte, Groovy (hg) |
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Single Arm Planning |
can be used with arm_navigation stack (move_arm), PR2 Only Any Robot (experimental, Groovy only) |
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Dual Arm Planning |
PR2 Only |
ROS Diamondback (svn) |
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Navigation in Dynamic Environment |
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ROS Diamondback (svn) |
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| Cart Planning | svn | ROS WIKI | |
| Door Planning | svn | ||
| Experience Graphs | E-Graphs are built from experience (previously planned paths or user demonstrations). The planner is able to reuse parts of these prior paths to plan faster. |
E-Graphs git (branch v3) PR2 fully body planning integration git (branch v3) Arm and navigation integration git (branch v3) |
Full body planning documentation |
| PERCH 2.0 | PERCH 2.0 is a GPU based deliberative perception via search methodology for fast and high quality object pose estimation |
PERCH 2.0 Docker setup git |
|
| PECOR | PECOR is a GPU based deliberative perception algorithm for 3-DoF object pose estimation from RGB color images |
PECOR code git |
Utilities |
Description |
Repository |
Documentation |
|
PViz |
PR2 Visualization Library - With one function call, you can visualize the PR2 in RViz with any joint configuration. The original meshes are drawn in as visualization markers. Note: Currently, the robot is drawn without a head :) |
ROS Electric (svn) ROS Fuerte (git) |
none...but it's pretty simple to use |