DARPA Robotics Challenge Team ViGIR

vigir_atlas_common

Common Atlas robot related files (robot model, configs, etc.)

vigir_rviz

vigir_install

Provides install scripts and rosinstall files for installing different variants of the Team ViGIR DRC software framework.

vigir_wide_angle_image_proc

Contains packages related to processing wide angle/fisheye camera images.

vigir_ros_control

vigir_atlas_planning

Atlas planning related packages

vigir_grasp_control

vigir_launch

pronto-distro

Distribution of Pronto to required dependencies

remotelaunch

Script to easily make/deploy/launch/kill our workspace onto multiple machines.

ReSpeC

Reactive (LTL) Specification Construction kit. Used by vigir_behavior_synthesis

vigir_atlas_pose_estimation_tools

Provides (conversion) tools for generating pose estimates for Atlas. This does not provide a full state estimator.

vigir_bag_configs

Contains launch files and configurations for logging robot data and playing data back.

vigir_control_msgs

vigir_gazebo

Gazebo related packages (launch file collections, scenarios etc.)

vigir_ihmc_integration

Contains code related to integrating Team ViGIR software with the IHMC Whole Body Controller.

vigir_ihmc_launch

Provides launch files for starting ViGIR software together with IHMC controller/simulator

vigir_logging

Ros nodes that handle logging of robot data and video.

vigir_moveit_advanced

Fork of moveit_advanced with minor modifications for workspace analysis

vigir_onboard_footstep_manager

vigir_online_grasping

vigir_pgr_camera

Provides a driver for PointGrey cameras. This driver has been tailored for use with ATLAS's situational awareness cameras.

vigir_planning_msgs

This repo/package contains planning related ROS Message, Action and Service definitions

vigir_robotiq_gazebo_tools

Tools used by Team ViGIR for establishing commonality between simulated and real robotiq hands.

vigir_scenarios_gazebo

Test scenarios using Gazebo for simulation

vigir_scripts

Provides scripts useful for workspace management of a ViGIR software setup.

vigir_stump_grasp_controller

Grasp controller for non-actuated hands

vigir_teleop_planning_msgs

This package provides ROS message and service types for planning robot motions. The messages are compact to facilitate transmission over restricted communication links.

vigir_thor_mang_config

Package that sets environment variables for setting up the thor-mang robot.

vigir_utilities

Package providing commonly used utility functionality (timing, file naming).