ua_drivers

This stack contains ROS drivers for various components of the Wubble Robot, specifically:

• Drivers for the Dynamixel AX-12 servos (ax12_driver_core). These servos are used by the robot's SmartArm, tilt laser, and head pan/tilt.
• A Python interface to Phidgets pressure sensors and RFID sensors (phidgets_py_api, phidgets_ros).
• Two interfaces to the Videre STOC camera: The first (videre_stereo_cam) uses standard FireWire libraries to get the left and right images from the camera. The second (videre_stoc) relies on Videre's proprietary SVS software packages to pull the left image and disparity image from the STOC.

ua_controllers

This package contains controllers for the Wubble Robot, which generally depend on ua_drivers for interfacing with the hardware. Thus, packages in this stack provide a higher level of abstraction for robot subsystems than ua_drivers.

• Controllers for the SmartArm (smart_arm_controller), tilting laser (wubble_laser_tilt_controller), and head pan/tilt (wubble_camera_pan_tilt_controller).
• Actions interfaces for all of the above controllers (wubble_actions).
• Message types common to all controllers (ua_controller_msgs).
• A control system for a simple Bioloid robot used in some Wizard-of-Oz experiments at UA (ccs).
• An inverse kinematics (IK) solver for the SmartArm, created with OpenRAVE (smart_arm_kinematics).

ua_robots

This stack contains URDF description files, 3D models, and configuration parameters for the Wubble Robot. For a component-by-component description of the robot, see WubbleRobot.

ua_vision

Contains packages related to vision on UA robots, including saliency tracking based on the

• A ROS wrapper for Nick's Machine Perception Toolkit (nmpt), a vision library providing algorithms for computing salient parts of an image. This information is used for saliency-based tracking (saliency_tracking).

ua_cognition

This stack will contain the cognitive architecture for the Wubble Robot. Currently, it contains a ROS wrapper for the GBBopen blackboard system (gbbopen).

ua_apps

• Wubble Robot Gmapping application (wubble_mapping).
• Wubble Robot teleoperation (wubble_teleop).
• Wubble Robot blocks stacking (wubble_blocks).

wubble_world

This stack contains world files for the Gazebo simulator (in wubble_environments), intended as an environment for continuing the Wubble World project.