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This repository contains ROS packages related to robotic research at the Technische Universität Darmstadt, Germany. Most of them have been developed by members of Team Hector (Heterogeneous Cooperating Team of Robots), actively participating at the RoboCup Rescue competitions. Team Hector is part of the Research Training Group GRK1362 (Cooperative, Adaptive and Responsive Monitoring in Mixed Mode Environments) funded by the German Research Foundation (DFG). |
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Contents
Simultaneous Localization and Mapping
hector_slam contains ROS packages related to performing SLAM in unstructured environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.
Robot Localization based on Sensor Fusion
The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements. The usage of other sensors is application-dependent. The hector_localization stack currently supports GPS, magnetometer, barometric pressure sensors and other external sources that provide a geometry_msgs/PoseWithCovariance message via the poseupdate topic (e.g. from hector_slam).
Autnomous Navigation
hector_navigation provides packages related to navigation of unmanned vehicles in USAR environments.
World Modeling
hector_vision contains detectors of heat and QR codes in (thermal) camera images. The hector_worldmodel stack helps to track and fuse information about those objects in the world. These two stacks are used by Team Hector Darmstadt to find and localize victims and QR codes in the Robocup Rescue scenario.
Gazebo plugins, models and world files
The hector_gazebo stack contains some extensions to Willow Garage's simulator_gazebo stack with sensor and controller plugins used by the robots at Team Hector. Currently this includes an IMU, an earth magnetic field sensor, GPS, sonar ranger, a thermal camera and a differential drive plugin. Some meshes and URDF models of sensors are contained in the hector_models stack.
Quadrotor Simulation and Control
hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems.
NIST Arenas for Gazebo
hector_nist_arenas_gazebo provides means for the fast and convenient creation of test scenarios involving parts like those used for NIST standard test methods for response robots.