DARPA Robotics Challenge Team ViGIR's repositories
flexbe_behavior_engine
Contains the behavior engine FlexBE.
vigir_perception
Perception related packages
vigir_footstep_planning_core
Provides the generic footstep planner
vigir_manipulation_planning
This repository contains ROS packages related to manipulation motion planning
vigir_behaviors
Team-specific part of FlexBE such as additional states for interfacing with Team ViGIR software and all the implemented behaviors.
vigir_lidar_proc
This repo contains LIDAR processing related packages
vigir_pluginlib
Extended version of the pluginlib library. This library comes with a plugin (content) management system which allows to manage (loading as well as unloading plugins) and selecting plugins based on their content during runtime.
flexbe_chrome_app
Contains the source code of the FlexBE Chrome App.
vigir_behavior_synthesis
ROS packages that enable the automatic synthesis of executable state machines.
vigir_footstep_planning_basics
This package provides basic widgets to communicate with the footstep planning system. Further it contains a library which implements common algortihms needed for handling step plans.
vigir_generic_params
This library allows to use dynamic configs with no fixed structure across the ROS system. In contrast to predefined msgs you can send any parameter content whose structure may change during runtime between nodes.
vigir_simple_joint_pan
Provides a simple node for commanding back and forth joint panning motion (using a JointTrajectoryAction interface to interface with actuation)
vigir_terrain_classifier
The terrain classifier generates a suitable 3D model for footstep planning
executive_smach
A procedural python-based task execution framework with ROS integration.
vigir_footstep_planning_msgs
Provides ROS messages, services and actions used by the footstep planning system.
vigir_interactive_marker_pose_server
Simple node providing a pose that can be moved via a interactive marker
vigir_object_template_manager
Provides packages for performing manipulation based on object templates.
vigir_ocs_msgs
Messages used for communication with and within the Operator Control Station (OCS)
vigir_perception_msgs
Provides ROS message, service and action definition related to perception used by Team ViGIR
vigir_step_control
This package provides a generic hardware abstraction layer to utilize step plan msgs by the vigir footstep planning stack.
vigir_walk_control
THIS PACKAGE HAS BEEN RENAMED TO 'vigir_step_control' AND THIS REPOSITORY IS NOT MAINTAINED ANYMORE. PLEASE USE THE NEW REPOSITORY AT: https://github.com/team-vigir/vigir_step_control.