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Brown University Robotics repository for ROS tools and nodesbrown-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 ProjectsThe following software is currently available: 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
a light-weight binding from ROS to Javascript, included in rosbridge a ROS driver for the Parrot AR.Drone quad rotor helicopter
lightweight Python binding for the iRobot Create exposing most of the Open Interface functionality
ROS driver for the iRobot Create that wraps pyCreate
Gstreamer-based webcam driver for ROS
ROS vision node allowing for recognition of ARTags and their location/transformation in image-space
ROS node allowing for simple odometry correction
simple ROS teleop of cmd_vel/twist based robots
ROS teleoperation for most functions of the PR2 InstallationTo get started: Following the binary installation process , brown-ros-pkg software is available within the following stacks:
sudo apt-get install ros-electric-brown-drivers
sudo apt-get install ros-electric-brown-perception
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 rosjsFor 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 DocumentationFor documentation, see the brown-ros-pkg page on the ROS Wiki. Commit Access Request And/Or Patchesemail: tjay@cs.brown.edu AcknowledgmentsThis 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). |