Technical University of Darmstadt - SIM - Team Hector - ROS Packages

hector_calibration

ROS packages related to calibration of robots and subsystems (cameras, LIDAR, kinematics)

vehicle_controller

Controller for wheeled and tracked vehicles

hector_rviz_overlay

sdf_contact_estimation

Accurate pose prediction based on Signed Distance Fields for mobile ground robots in rough terrain.

move_base_lite

Experimental move_base substitute that aims at reducing complexity

rotation_aware_traversability_path_planning

Rotation-aware Traversability Path Planning is based on the Legged Locomotion Library (L3). It extends L3 in the following ways: Plugins that consider traversability during path planning; Configs allowing the use of Boston Dynamics' Spot in L3; Conversion of resulting L3 step plans into Follow Path Actions.

hector_teleop

Packages related to teleoperation of robots

hector_vehicle_launch

Repository for high level launch files used by Team Hector

l3_footstep_planning

voxblox

A library for flexible voxel-based mapping, mainly focusing on truncated and Euclidean signed distance fields.

livox_ros_driver2

Livox device driver under Ros(Compatible with ros and ros2), support Lidar HAP and Mid-360.

l3_core

l3_terrain_modeling

moveit_joystick_control

Direct end-effector control using a joystick based on the moveit inverse kinematics interface.

robot_mesh_localization

Robust 3D localization of mobile robots in a building mesh using Lidar and depth sensors.

hector_perception_msgs

Perception related msg definitions

cloud_snapshot

Republishes single point clouds on request.

FAST_LIO

A computationally efficient and robust LiDAR-inertial odometry (LIO) package

gazebo_ros_pkgs

Wrappers, tools and additional API's for using ROS with Gazebo

hector_math

Math library with common useful functions and classes to work with robotics data using the Eigen library.

hector_stability_assistance

ROS packages related to stability assistance functions, tip-over prevention and stability visualization.

message_logger

nerfstudio

A collaboration friendly studio for NeRFs

nlopt

library for nonlinear optimization, wrapping many algorithms for global and local, constrained or unconstrained, optimization

open_manipulator_p

OpenManipulator-P for controlling in Gazebo and Moveit with ROS

ros_comm

ROS communications-related packages, including core client libraries (roscpp, rospy, roslisp) and graph introspection tools (rostopic, rosnode, rosservice, rosparam).

SegmentAnythingin3D

Segment Anything in 3D with NeRFs (NeurIPS 2023)

teamhector.de

traversability_estimation

Traversability mapping for mobile rough terrain navigation

um7

ROS driver for UM7 inertial measurement device.