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.

Current Projects

The following software is currently available:

rosbridge

ROS node providing a simple way of binding ROS to dynamic languages over TCP or web sockets. Includes rosjs, a binding from ROS to javascript for in-browser use

rosjs

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

ardrone_brown

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

position_tracker

ROS node allowing for simple odometry correction

teleop_twist_keyboard

simple ROS teleop of cmd_vel/twist based robots

pr2_keyboard_teleoperator

ROS teleoperation for most functions of the PR2

Installation

To get started:

Following the binary installation process , brown-ros-pkg software is available within the following stacks:

irobot_create_2_1:

sudo apt-get install ros-electric-brown-drivers

gscam:

sudo apt-get install ros-electric-brown-perception

rosbrige, teleop_twist_keyboard:

sudo apt-get install ros-electric-brown-remotelab

Most brown-ros-pkg software is available as pre-compiled DEBS through the normal ROS release process.

Due to licensing issues, ar_recog is only available via source. However, it does build properly with rosmake. 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

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: 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).