Institute of Automatic Control - RWTH Aachen University

gnssFGO

This is the official repo of the project gnssFGO.

DeepNLOSDetection

Learning-based NLOS Detection and Uncertainty Estimation of GNSS Observations with Self-Attention Enhanced LSTM Network

FmiWrapper

Simplified C-Interface for fmi2 models. Includes .net wrapper.

irt_gnss_preprocessing

ROS package for GNSS pre-processing developed at the IRT

mapviz

Modular ROS visualization tool for 2D data.

casadi

CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.

gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.

LIO-SAM

Adapted LIO-SAM: Tightly-coupled Lidar Inertial Odometry via Smoothing and Mapping

moveit

:robot: The MoveIt motion planning framework

moveit_grasps

Geometric grasping generator library for cuboids

moveit_tutorials

A sphinx-based centralized documentation repo for MoveIt

novatel_oem7_driver

Adapted ROS Driver for NovAtel OEM7 GNSS/SPAN Receivers

panda_moveit_config

The Panda robot is the flagship MoveIt integration robot

PoseErrors.jl

6D pose error metrics from BOP Challenge.

RobotOSData.jl

Tools to read data from ROS bags and messages in Julia.

ros_openpose

ROS wrapper for OpenPose

rosserial_arduino_lib

septentrio_gnss_driver

ROS 1 & 2 driver for Septentrio GNSS & INS receivers

ublox

Adapted driver including messages for ublox gps

BayesianPoseEstimation.jl

6D pose estimation using sampling-based Bayesian inference algorithms. Produced the results of Tim Redick's dissertation.

BayesNet.jl

Type stable implementation of a Bayesian network.

BlenderProc.DissTimRedick

BlenderProc setup to generate the synthetic datasets from Tim Redick's dissertation. STERI models not included since the CAD files are proprietary.

IMU-Simulator

C++ Simulator and ROS 2 Node for Inertial Measurement Units.

irt_nav_common

ROS package for IRT navigation messages

irt_ntrip_ros

ROS package for the ntrip client parsing RTCMv3 message

KernelDistributions.jl

Subset of Distributions.jl which can be used in CUDA kernels.

POSGO

SciGL.jl

Porting https://gitlab.com/rwth-irt-public/flirt/scigl_render to Julia for Bayesian inference.