Brown University Robotics repository for ROS tools and nodes

brown-ros-pkg is collection of software resources shared towards helping users new to robotics and Willow Garage's Robot Operating System get their robots up and moving as quickly as possible.

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Highlighted Projects

The following software is currently available, but not supported beyond ROS Electric:

• rosbridge v1

  A network protocol and server providing a simple way of binding ROS (or any robot middleware) to dynamic languages over TCP or web sockets. Includes rosbridge clients, such as rosjs, for binding from ROS to JavaScript for in-browser use

• rosjs

  a light-weight binding from ROS to Javascript, included in rosbridge v1

• ardrone_brown (depreciated)

  a ROS driver for the Parrot AR.Drone quad rotor helicopter

• pyCreate

  lightweight Python binding for the iRobot Create exposing most of the Open Interface functionality

• irobot_create_2_1

  ROS driver for the iRobot Create that wraps pyCreate

• gscam

  Gstreamer-based webcam driver for ROS

• ar_recog

  ROS vision node allowing for recognition of ARTags and their location/transformation in image-space

Installation

Most released brown-ros-pkg software is available as pre-compiled DEBS through the normal ROS release process. Experimental code can be checked out via svn.

Due to licensing issues, ar_recog is only available via source. However, it does build properly with rosmake (up though the Electric distribution of ROS). Within your ROS_PACKAGE_PATH (after properly sourcing your ROS environment setup) simply:

svn co https://brown-ros-pkg.googlecode.com/svn/tags/brown-ros-pkg/ar_recog roscd ar_recog rosmake

rosjs (rosbridge v.1)

For easy in-browser access and to support caching, HTML files can always include the latest version of rosjs via:

http://brown-ros-pkg.googlecode.com/svn/trunk/experimental/rosbridge/ros.js

Documentation

For documentation, see the brown-ros-pkg page on the ROS Wiki.

Commit Access Request And/Or Patches

email: odestcj@cs.brown.edu (formerly tjay@cs.brown.edu)

Acknowledgments

This material is based upon work supported by the Office of Naval Research and National Science Foundation under Grant No. 0844486.

Any opinions, findings and conclusions or recommendations expressed in this material are those of the author(s) and do not necessarily reflect the views of the National Science Foundation (NSF) or Office of Naval Research (ONR).