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Project Information
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ISR - University of Coimbra repository of ROS packagesRobot Operating System (ROS) is currently being developed by Willow Garage and Stanford. Here you have adopted this system as the main base for our robots and since then we have been developing several packages. ProjectsBoth in Downloads and in Source sections the developed packages are available. List of highlighted packages:
PlumeSim is a plume simulator designed to aid in the development of odor related mobile robot algorithms. It is an open source, ongoing project. (It was initially designed as a plugin driver for Player/Stage plumesim for Player/Stage). The ROS version includes visualization support by means of a visualization_msgs::Marker message.
The wifi_comm package was born from necessity. It allows multi-robot peer-2-peer style communication. The discovery node works together with olsr to publish information related to available neighbors. A library is also available to allow for easy opening and closing of foreign_relays, the method by which local topics are published on a foreign roscore, thus providing the communication channel.
Ardusim (Arduino Sensor Interface Module) was created to allow ROS integration of a series of i2c sensors available at the LSE. The Arduino side code is available through the Downloads section.
Here at the ISR the iRobot Roomba 560 and 555 are used on a daily bases. The roomba_500_series package includes a light node which only exposes velocity commands and odometry, while the full node exposes everything the Roomba has to offer, from song playing to automatic docking. The underlying iRobot::OpenInterface library is also available should a custom Roomba node be required. |
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