Differences
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robots:tum-rosie [2012/04/26 16:13] Alexis Maldonado |
robots:tum-rosie [2012/12/07 15:36] (current) Ingo Kresse updated sourceforge repository links |
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| ==== Sensors ==== | ==== Sensors ==== | ||
| * Microsoft Kinect 3D camera | * Microsoft Kinect 3D camera | ||
| - | * one Hokuyo laser scanner mounted on a Powercube tilting module for 3D laser scans (shoulder scanner), | + | * one Hokuyo UTM-30LX laser scanner mounted on a Powercube tilting module for 3D laser scans (shoulder scanner), |
| + | * two Hokuyo URG-04LX laser scanners for navigation and localization | ||
| * a Swiss-Ranger SR4000 Time-of-flight camera, | * a Swiss-Ranger SR4000 Time-of-flight camera, | ||
| - | * two high-resolution cameras (2MP) forming another stereo setup, | + | * two SVS-Vistek eco274CVGE 2Mpixel gigabit-Ethernet cameras forming a stereo setup, |
| * FLIR thermal camera, | * FLIR thermal camera, | ||
| * fingertip sensors for slip, and proximity detection. | * fingertip sensors for slip, and proximity detection. | ||
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| All the hardware is integrated in the Robot Operating System and (partly) in YARP. The code can be found in the tum-ros-pkg repository (http://tum-ros-pkg.sourceforge.net/). Notable software components are grouped into stacks and include: | All the hardware is integrated in the Robot Operating System and (partly) in YARP. The code can be found in the tum-ros-pkg repository (http://tum-ros-pkg.sourceforge.net/). Notable software components are grouped into stacks and include: | ||
| - | * (ROS) a perception pipeline using the laser data that can generate (amongst others) a 3D semantic map of the robot's environment (stack: http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/mapping/), | + | * (ROS) a perception pipeline using the laser data that can generate (amongst others) a 3D semantic map of the robot's environment (stack: http://code.in.tum.de/git/mapping.git), |
| - | * (ROS) a perception architecture which integrates time-of-flight and camera data to perceive objects. (stacks: http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/mapping/, http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/perception/), | + | * (ROS) a perception architecture which integrates time-of-flight and camera data to perceive objects. (stacks: http://code.in.tum.de/git/mapping.git, http://code.in.tum.de/git/ias-perception-aux.git, http://code.in.tum.de/git/ias-perception-aux.git), |
| - | * (ROS) a plan-based controller which invokes and monitors perception and actions (stacks: http://www.ros.org/wiki/cram, http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/highlevel/), | + | * (ROS) a plan-based controller which invokes and monitors perception and actions (stacks: http://www.ros.org/wiki/cram_core, http://sourceforge.net/p/tum-ros-pkg/code/HEAD/tree/highlevel/), |
| - | * (ROS/YARP) arm control using a vector-field controller (providing basic obstacle avoidance), | + | * (ROS/YARP) arm control using a vector-field controller (providing basic obstacle avoidance, stacks: %%git://toychest.in.tum.de/ias_manipulation.git%%), |
| * (ROS) a simple-grasp planner for one-handed grasps and unknown objects, which takes into account object form, obstacles (as perceived by the TOF-camera) as well as the feedback from the hand torque sensors. | * (ROS) a simple-grasp planner for one-handed grasps and unknown objects, which takes into account object form, obstacles (as perceived by the TOF-camera) as well as the feedback from the hand torque sensors. | ||
| * (ROS) localization and navigation, using ROS components (stack: navigation) | * (ROS) localization and navigation, using ROS components (stack: navigation) | ||
| * (ROS) a simulation environment of our robot in Gazebo. (the hands are work in progress) (stacks: simulation, robot_model), | * (ROS) a simulation environment of our robot in Gazebo. (the hands are work in progress) (stacks: simulation, robot_model), | ||
| - | * (ROS) knowledge processing system particularly designed for autonomous personal robots. It provides specific mechanisms and tools for action-centered representation, for the automated acquisition of grounded concepts through observation and experience, for reasoning about and managing uncertainty, and for fast inference (stack:http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/knowledge/). | + | * (ROS) knowledge processing system particularly designed for autonomous personal robots. It provides specific mechanisms and tools for action-centered representation, for the automated acquisition of grounded concepts through observation and experience, for reasoning about and managing uncertainty, and for fast inference (stack: http://sourceforge.net/p/tum-ros-pkg/code/HEAD/tree/knowledge/). |
Last edited 26.04.2012 16:13 by Alexis Maldonado
