[ros-users] tu-darmstadt-ros-pkg announcement

[Ken Conley]

Hi Stefan,

Thanks for your announcement and contribution.

I added the following wiki page to track the indexer:

http://www.ros.org/wiki/tu-darmstadt-ros-pkg

and it looks like you're already creating wiki pages, so thanks!

 - Ken

On Sat, Sep 24, 2011 at 2:18 AM, Stefan Kohlbrecher
<stefan.kohlbrecher at googlemail.com> wrote:
> Hi ROS community,
>
> we'd like to announce
> http://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk/ , a repository
> providing ROS compatible software developed at TU Darmstadt. From the
> start, we provide packages developed in the scope of team HECTOR
> Darmstadt (http://www.gkmm.tu-darmstadt.de/rescue/) related to SLAM
> and object tracking in harsh environments such as those encountered in
> the simulated Urban Search and Rescue (USAR) environments of the
> RoboCup Rescue League. This is the SLAM system we used to score top
> places at various competitions (1st place overall RoboCup German 2011,
> close 2nd best in class autonomy RoboCup 2011, 3rd place SICK robot
> day 2010 etc.). Example videos of hector_mapping from the hector_slam
> stack used in a handheld mapping system can be seen here:
>
> http://www.youtube.com/watch?v=F8pdObV_df4
> http://www.youtube.com/watch?v=Cfq3s4-H2S4
>
>
> We provide the following stacks:
>
> hector_slam stack:
> -hector_mapping is a fast SLAM system that does not require any
> odometry information and is able to learn accurate grid maps of small
> and medium scale scenarios. It can be used interchangeably with
> gmapping. The system provides 2D pose estimates at 40Hz (with a Hokuyo
> UTM-30LX) but does not perform explicit loop closure like gmapping
> does.
> -hector_trajectoy_server saves tf based trajectories given a source
> and target frame. They are made available as a nav_msgs/Path using
> both a service and topic. The travelled path of a robot can thus
> easily be visualized in rviz as well as plotted into the Geotiff
> generated by the hector_geotiff node.
> -hector_geotiff generates RoboCup Rescue League rules compliant
> GeoTiff maps with georeference information, showing both the map and
> the robot path. It uses nav_msgs/OccupancyGrid and nav_msgs/Path
> messages retrieved via services, so it can also be used with gmapping
> and other mapping systems.
> -hector_map_tools provides some tools related to extracting
> information from nav_msgs/OccupancyGrid data, like retrieving the
> rectangular of the map that actually contains non-unknown data.
>
> hector_worldmodel stack:
> -object_tracker provides a probabilistic (gaussian representation)
> system for tracking and mapping the pose of objects of interest in the
> world (used for victim mapping in RoboCup Rescue).
> -world_model_msgs provides a ROS message based interface for updating
> the object_tracker.
>
> hector_common stack:
> -bfl_eigen is a patched version of BFL that uses Eigen.
> -hector_marker_drawing is a class for helping with publishing marker messages.
>
> vrmagic_camera stack:
> Driver for vrmagic four sensor cameras, unstable development code.
>
> Documentation and Tutorials will be added in the coming days once the
> repository is indexed on ros.org.
>
> on behalf of all members of team HECTOR Darmstadt,
> Stefan Kohlbrecher & Johannes Meyer
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