Software

For additional help running our software please see the tutorials page.

Projects

Description

Software

Documentation

SBPL

no dependencies!

Repo (git)

ROS Wiki

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, Hydro (hg)

ROS Wiki

RSS 2008

Single Arm Planning

can be used with arm_navigation stack (move_arm),

PR2 Only 

Any Robot (experimental, Groovy only)

 

Repositories

ROS Wiki

ICRA 2010

ICRA 2011

Dual Arm Planning

PR2 Only

ROS Diamondback (svn)

ICRA 2012

Navigation in Dynamic Environment

 

ROS Diamondback (svn)

ROS Wiki

ICRA 2011

AAAI 2011

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.  git

RSS 2012

ICRA 2013

 

 

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