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  • Aerial Robotics Testbed

    The Aerial Robotics Testbed (ART) is a joint effort for the development of Unmanned Aerial Vehicles (UAVs) involving LAAS/CNRS, IRISA, Univeristy of Twente and Saxion Univeristy of Applied Sciences....

    • ART CAD models
    • telekyb3

      Free and open source collection of software for Unmanned Aerial Vehicles (UAVs).

      • maneuver-genom3

        Simple maneuver planner for aerial robots.

        Implements vertical take-off/landing, goto and waypoint-based trajectories.

      • mrsim-genom3

        Multi-rotor simulator.

        Provides a pty emulating the tk3-mikrokopter communication protocol and implements all the tk3-mikrokopter features. In addition, a 'gps' port provides a simulation of a gps/motion capture device and a 'state' port provides the full state without noise, to be used as a 'ground truth' state....

      • nhfc-genom3

        Near-hovering flight controller.

        This implements a basic sabilization controller, as described here:
        R. Spica, Robuffo Giordano, P., Ryll, M., Bülthoff, H. H., and Franchi, A., “An Open-Source Hardware/Software Architecture for Quadrotor UAVs”, in 2nd IFAC Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France, 2013....

      • phynt-genom3

        Physical interaction for UAVs.

        This component implements an admittance position filter and an external wrench observer.

      • rotorcraft-genom3

        Low level hardware controller for quadrotors talking the telekyb3 protocol.

        This component reads a desired array of rotor velocities sent by attitude and position controllers and pass them to the underlying hardware.

      • tk3-flash

        Utility for flashing Mikrokopter boards (flight controller and brushless controller).

      • tk3-matlab

        A MATLAB interface and a Simulink block to control hardware running the tk3-mikrokopter software.

      • tk3-mikrokopter

        An embedded autopilot running on board the Mikrokopter hardware.

      • tk3-paparazzi

        Custom firmware for the Chimera Paparazzi board compatible with the telekyb software.

      • uavatt-genom3

        UAV attitude flight controller.

        This component implements the SO attitude controller described in Faessler M, Franchi A, Scaramuzza D. Differential Flatness of Quadrotor
        Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed
        Trajectories. IEEE Robotics and Automation Letters. 2018;3(2):620-626....

      • uavpos-genom3

        UAV position flight controller.

        This component implements the ℝ³ position controller described in Faessler M, Franchi A, Scaramuzza D. Differential Flatness of Quadrotor
        Dynamics Subject to Rotor Drag for Accurate Tracking of High-Speed
        Trajectories. IEEE Robotics and Automation Letters. 2018;3(2):620-626....

  • arduio

    This software runs on an Arduino board and provides remote control of the board I/Os through a serial, message-based communication.

    • arduio-genom3

      GenoM3 component connecting to an Arduino board running 'arduio'.

  • Commercial robotics platforms support

    Commercial robotics platforms support.

    • iRobot robots

      Software for the iRobot family (ATRV, ATRV-Jr, B21r,...) using the rFlex micro-controller.

    • IVMob

      Interface library and genom module for the Sterela 4MOB platform

    • jido

      Software for the jido robots

    • lwr-controller

      lwr-controller is a control interface for Kuka arm based on softMotion. It uses FRI (Fast Research Interface) to communicate with the controller.

      lwrc-genom is the control part.
      lwri-genom is the interface.

      The main idea is to use trajectories to control the robots. It uses softMotion trajectories, but other trajectories can be approximated. Cartesian and join trajectories are accepted. lwri can also compute simple trajectories and then execute them....

      • lwrc-genom

        lwrc-genom is the control part of lwr-controller.

      • lwri-genom

        lwri-genom is the interface part of lwr-controller.

    • pr2-robot

      Keeping track of PR2 software configuration after the end of Clearpath Robotics support.

    • segway-robots

      Software for the Segway RMP 400 and 440 robots

  • dynamixel-genom3

    GenoM3 component controlling dynamixel motors.

    This component provides position, velocity and torque control or dynamixel motors.

  • elmo-axis-libs

    Simple library to control one elmo harmonica axis

  • eltclsh

    eltclsh (editline tcl shell) is an interactive shell for the TCL programming language. It provides command line editing, history browsing as well as variables and command completion thanks to editline features. The completion engine is programmable in a way similar to tcsh, and comes with an intelligent completion for the full tcl language by default....

  • FAPE

    FAPE: Flexible Planning and Acting Environment

    FAPE is an actor and planner for robotics, using the ANML language as an input.

    Planning is done in plan-space, with a rich temporal representation and support for Hierarchical Task Networks.

  • genom2

    The Generator of Modules GenoM is a tool to design real-time software architectures. It is more specifically dedicated to complex on-board systems, such as autonomous robots.

    • tclserv

      Tcl interface with Genom2 components

  • genom3

    The Generator of Modules GenoM is a tool to design real-time software architectures. It encapsulates software functions inside independent components. GenoM is more specifically dedicated to complex on-board systems, such as autonomous mobile robots or satellites, that require:...

    • demo-genom3

      A sample Genom component

    • genom3-bip

      The genom3-bip template provides a genom3 template for generating BIP code to control GenoM3 components.

    • genom3-openprs

      The genom3-openprs template provides a genom3 template for generating openprs code to control GenoM3 components.

    • genom3-orocos

      The genom3-orocos template provides a GenoM3 template for generating orocos-based components.

    • genom3-pocolibs

      The genom3-pocolibs template provides a GenoM3 template for generating pocolibs-based components.

    • genom3-ros

      The genom3-ros template provides a GenoM3 template for generating ros-based components.

    • transgen3

      Transgen3 provides a way to generate an openprs supervisor controlling a set of genom3 components. For each of the GenoM3 component, you will need to use the genom3-openprs template.

  • genomix

    The genomix HTTP server is a generic interface between clients and genom components (using the generic genom C client template). Control is done by the mean of specific HTTP GET requests.

    • matlab-genomix

      matlab-genomix provides a MATLAB package that interacts with the genomix HTTP server and can control GenoM3 components. It can also be used with the rosix server to control ros nodes.

      The package implements interactive prompting for arguments of services. Services can be invoked synchronously or asynchronously and callbacks can be triggered whenever services complete....

    • python-genomix

      python-genomix package provides a python package that interacts with the genomix HTTP server and can control GenoM3 components.

      It can prompt interactively for arguments of services. Services can be invoked synchronously or asynchronously and callbacks can be triggered whenever services complete....

    • rosix

      The rosix HTTP server is a generic interface between clients and ros nodes. Control is done by the mean of specific HTTP GET requests.

      This server is compatible with the genomix server, meaning that genomix clients can be used directly with this server....

    • tcl-genomix

      tcl-genomix package provides a TCL package that interacts with the genomix HTTP server and can control GenoM3 components.

      It can prompt interactively for arguments of services. Services can be invoked synchronously or asynchronously and callbacks can be triggered whenever services complete....

  • Graphical display and visualization software

    Graphical display and visualization software.

    • gdhe

      Graphical Display for Hilare Experiments

      GDHE is a visualisation tool for robotics experiments, using Tcl/Tk and OpenGL.

  • HATP

    HATP is an HTN planner.

    The project is decomposed in submodules:
    • hatponboard, hatponboard-lib: the core of the planner
    • hatptester: to send plan request
    • hatpconsole: to display the plans found
    • msgconnector: the middleware so modules can communicate...
  • Image processing software

    Collection of software related to image processing

  • Miscelaneous sensors

    Low-level libraries to access various sensors.

    • daqflex-libs

      daqflex-libs is a library and a low-level test program for the USB-201 ADC made by the Measurement Company Corporation (MCC).

      It is rewritten in C, using the C++ library provided by MCC as documentation.

      The MCC programming guide provides information on the commands that can be sent to the device : ...

    • ftsens-genom3

      Exports force/torque sensor data from the FTsens hardware using icub-libs

    • icub-libs

      Interface library for the iit/icub force/torque sensors

    • joystick-genom3

      This component exports the readings of any joystick device connected to the host computer.

    • kvh-gyro

      Drivers for various KVH gyroscopes

    • mccdaqft-genom3

      Acquire data from a Force/Torque sensor attached to a MCC DAQ device.

    • Sick LD-MRS

      Software for the Sick LD-MRS laser scanners

    • teraranger-genom3

      Exports distance data from the TeraRanger hardware.

    • Velodyne-lidars

      Drivers and components for Velodyne lidars

      Repositories :
      • velodyne-libs : the interface library
      • velodyne-genom : Genom v2 component
    • xsens-mti

      Libraries and Genom component supporting the XSENS MTI Attitude Heading Reference System

  • Modeling and mapping software

    Modeling and mapping software

  • Motion and path planning software

    Motion and path planning software.

    • libkdtp

      Kinodynamic Trajectory Planner

      Spline-based, minimum time, constant snap trajectory generator. It applies to any robot with decoupled dynamics (or differencially flat).

      Whitepaper: Alexandre Boeuf, Juan Cortes, Rachid Alami, Thierry Simeon. Enhancing sampling-based kinodynamic motion planning for quadrotors. IEEE/RSJ International Conference on Intelligent Robots and Systems, Sep 2015, Hamburg, Germany. 2015....

    • Move3d

      Programming system for motion planning, includes services like collision detection, robot kinematics and an OpenGL viewer.

    • pr2motion-genom3

      PR2 Robot motion controller with Genom3

    • softMotion

      SoftMotion Planner Library

    • vstp

      Very Simple Trajectory Planner

  • Numerical analysis

    Solving mathematical problems.

  • openprs

    OpenPRS is an open source version of PRS (Procedural Reasoning Systems).

    It is based on C-PRS and Propice... which were themselves inspired from the Lisp PRS originaly developped at SRI International by me and then others. PRS has been used for a wide variety of applications, from mobile robot execution control to Space Shuttle operational procedure execution....

  • openrobots-idl

    Common IDL interfaces for genom3 components.

  • pocolibs

    System communication and real-time primitive layers used by GenoM modules.

  • Pose estimation and localization software
    • gps

      Libraries, utilities and genom module to control a differential Global Positioning System (GPS)

    • gps-genom3

      GPS driver component for novatel OEM6, tersus BX3xx and ublox M8.

    • optitrack-genom3

      GenoM3 component exporting motion capture data from an Optitrack system.

    • pom-genom3

      GenoM3 component for localization.

      This component collects position/velocity/acceleration measurements from other components, and generate a fused state estimation from these sources.

    • xsensmvn-genom3

      Receive streamed data from Xsens MVN motion capture software.

  • robotpkg

    robotpkg is a compilation framework and packaging system for installing robotics software developed by the robotic community. It also contains packages for some general, third-party open-source software that the robotics software depends on and that is not commonly packaged by major unix distributions....

    • pkgrepo2deb

      pkgrepo2deb creates binary-only debian packages or debian repositories (packages plus administrative files Packages{,.gz} and Release{,.gpg}) from a robotpkg binary package repository or from a specified set of packages.

    • rbulkit

      rbulkit is a set of helper scripts and programs for managing robotpkg bulk
      builds. It features:

      • rbulk-build, a shell script performing all the necessary tasks to run a build and produce an HTML report.
      • rbulk-report creates (or update) an sqlite3 database from the results of a previous bulk build. The database is populated with the log files lefts by the robotpkg bulk target. rbulk_report can also generate a detailed (HTML) report from the bulk data available in the database....
    • robotpkg-www

      Static data of the robotpkg web site.

    • robotpkg/wip

      robotpkg/wip (work in progress) is a subset of robotpkg used by people actively involved in creating packages or testing new releases of packages. robotpkg/wip contains a set of packages that are likely not to install smoothly or not even compile and that do require more work before final integration into robotpkg....

  • roralink

    Robot Radio Link

    Tunnel that allows seamless switch from wired to wireless connection for a robot

  • shary2
  • Simulation and hardware emulation software
    • dxsim-gazebo

      dxsim-gazebo is a Gazebo plugin that simulates a chain of Dynamixel motors connected together to the same serial bus (daisy chain).

      It provides the same interface as the real one, i.e. a pty port connection you can connect to, and it emulates the Dynamixel Protocol 2.0....

    • gazebocam-genom3

      Stream a camera sensor from gazebo.

    • gazeboft-genom3

      Component reading wrench data from a simulated Force/Torque sensor in gazebo.

    • libdynamixel

      Dynamixel motors emulation library.

      The library provides a pty emulating the Dynamixel communication protocol and implements virtual motors.

    • libmrsim

      Multi-rotor simulator.

      The library provides a pty emulating the tk3-mikrokopter communication protocol and implements all the tk3-mikrokopter features so that the hardware can be fully emulated.

      The rotor dynamics are simulated using a realistic motor model and a simple thrust/drag propeller model. The same hardware velocity controller as implemented in the tk3-mikrokopter software controls the propellers velocities. Then, a simple free-flying 6D rigid body dynamics simulation can also be used, although it is not meant as a generic physics engine (e.g. no collision, no atmosphere, ...)....

    • morse

      MORSE, the Modular OpenRobots Simulation Engine

    • mrsim-gazebo

      mrsim-gazebo is a gazebo plugin for multi-rotor simulation.

      It emulates the tk3-mikrokopter software running on Mikrokopter hardware via a pty implementing the tk3-mikrokopter communication protocol and all the tk3-mikrokopter features so that the hardware can be fully emulated....

    • optitrack-gazebo

      optitrack-gazebo is a gazebo plugin that emulates an OptiTrack Motion Capture system. It streams live a configurable subset of links pose as computed by the gazebo simulator. The streaming protocol is compatible with the NatNet 2.9 format of OptiTrack....

  • Software development utilities

    Software development utilities

    • mkdep

      Mkdep is a tool to manage dependencies for make(1) automatically on Unix-like systems. The original feature of this version is to be able to handle incremental updates of the dependencies

    • mPower

      Ubiquity Networks mPower interface

  • Speech processing and audio software

    Collection of software related to speech processing and audio.

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