The autoproj package set for the toolchain.

Base type definitions for Rock. It contains the common types shared across Rock packages.

Autoproj build configuration for rock-base

basic tools to manage sample streams more…

C++ Driver for dynamixel servos

Clean C++ class to access the Xsens IMU SDK

A C++ class that allows to use a parallel port as a kind-of GPIO output device.

base implementation of driver classes more…

A driver specific for the Magellan MB500 dGPS board more…

unified CAN driver for CAN-socket based hardware as well as Emtrion CAN bus cards

Driver for the laser scanners that use the SCIP2 protocol used by the Hokuyo-branded scanners

drivers for usual control input devices (joystick for now)

An oroGen component that integrates the hokuyo driver

oroGen CAN bus driver, supporting all CAN hardware that the canbus package supports. more…

WiFi link monitoring on Linux-based systems

oroGen driver for Xsens IMUs using the xsens_imu driver

Ruby library and tool to load log files generated by the logger oroGen component

oroGen typekit generated for the base types in /rock-base/types

oroGen component that can log any output port generated by oroGen more…

oroGen driver for input devices. Currently, only joysticks are available, as well as a custom-defined protocol to send joystick information through CAN

oroGen driver for dynamixel servos

oroGen driver to use a parallel port as a controllable GPIO output

oroGen driver for GPS. more…

Ruby library to manipulate Orocos/oroGen components through CORBA more…

Autoproj root configuration to build all the Rock packages more…

Set of simple controllers for actuators. more…

An implementation of a trajectory following controller.

Simple waypoint-based navigation for ground robots

Generic map representation and manipulation library more…

Implementation of the VFH* algorithm

A path planner that generates a graph of corridors in which the robot can navigate.

oroGen integration of a trajectory following controller

An imported verion of the libply parsing library from http://people.cs.kuleuven.be/~ares.lagae/libply/

oroGen-based simple waypoint-based navigation for rovers

Source documentation for the Rock user’s guide more…

The autoproj configuration for the Rock packages (libraries and oroGen components)

The roby plan manager

Base class and utilities for all camera drivers

Simple controllers for four-wheeled, skid-steering systems

oroGen component for the corridor_planner library

This library provides a basic, EKF based, implementation for a pose
more…

    estimator that is able to fuse IMU, odometry and global positioning
    information (GPS)

This module takes position and odometry data
more…

  and combines them to generate local pointclouds
  which are matched to a known map.

The base webgen template for the package directory generator

administration scripts: documentation generation, package directory generation, …

Template for creating new cmake libraries which are pkg-config compatible. more…

Default build configuration for Rock more…

Set of scripts for administrative duties in the Rock project

orogen component for Prosilica GigE cameras

Base visualization kit for Rock. Provides Qt4 and OpenSceneGraph (OSG) based components and interfaces, that can be used for visualization of Rock datatypes. Already contains the visualization components for base datatypes.

A simple transformation stack, base on the aggregator

Ruby-side code for the types in base/types

template for a viz/ subdirectory in a rock library

A collection of qt widgets which are compatible to qt designer. They are designed to be used in combination with Rock Vizkit but can be use for other applications as well.

Navigation within corridors. It provides one class that plans motions in a physical corridor which can be segmented out of laser scans (corridor servoing) and one that navigates within virtual corridors, based on given pose estimates (corridor following)

Orogen encapsulation of the corridor_navigation package

Library for manipulating frames

Beamer slides used to present more…

ffmpeg-ruby wrapper from
https://github.com/gwik/ffmpeg-ruby more… more…

C++ driver and calibration for immersion cyber glove.

OS threads monitoring (CPU, I/O, …) more…

Template for creating new vizkit widgets which arr qt designer compatible more…

oroGen tasks for doing common processing on images (rectification, stereo rectification, resizing, …)

Algorithms to search trajectories in maps represented as graphs more…

Relative position controller for autonomous underwater vehicle

Common models for rock’s supervision layer.

Camera interface implementation for GigE Prosilica cameras.

camera base task which should be inherited by all other camera tasks

A tutorial that explains task intercommunication.

A tutorial for rock

Build configuration for building all tutorials together with the rock toolchain

package set for the tutorials

A service discovery library based on the existing Avahi library. Allows creating a distributed namespace and facilitates service publishing. Includes ruby-bindings.

a library, that is intended to provide information about the system utilization in a convenvient way (solely debian).

Simple library for creating timestamped messages

An orogen component that produces timestamped messages

Simple orogen component that consumes messages and print their content to stdout

A tutorial about how to write a vizkit3d plugin

A styleguide for C++ libraries that is an adapted version of the google-styleguide

Dirver for the Junsi iCharger
Battery Charging device with USB Port

Camera driver based on the OpenCV V4l Interface.
Can be used for several input devises that are provided by kernel drivers
Alternativly you might want take a look to the unicap packages

Library for FIPA compliant communication. Includes a message parser and a message generator for bit-efficient FIPA ACL messages. Also contains a conversation monitor library to validate the message flow of a communication – based on so-called interaction protocols. The library includes ruby bindings for FIPA messages.

Rock specific part of the aggregator package

Driver for the KVH-DSP3000 FOG

Graph based SLAM module

Libelas (Library for Efficient Large-scale Stereo Matching) is a
more…

cross-platfrom (Linux, Windows) C++ library with MATLAB wrappers for
computing disparity maps from rectified graylevel stereo pairs. It is robust  
against moderate changes in illumination and well suited for robotics  
applications with high resolution images. Computing the left and right  
disparity map of a one Megapixel image requires less than one second on a  
single i7 CPU core.   

Base task for device drivers that are using iodrivers_base::Driver

The stereo library contains functions to process stereo images using both dense and sparse methods. The library also contains support functions for pre-processing stereo images.

Orogen components for processing of stereo images (both sparse and dense).

orogen module to build up and environment from sensor input data.

Driver for the Doppler Velocity Logs from Teledyne

oroGen integration of the DVL Teledyne driver (from drivers/dvl_teledyne)

Common typekit for the transformer-related type, along with oroGen and oroGen/Roby support

ruby library for processing rock log files more…

Driver for firewire cameras, based on libdc1394

oroGen component for the camera_firewire library

Random motion generator for the tutorial’s Rock

Deployment oroGen project for the Rock tutorials

Following behaviour for the Rock tutorial

This is the triangular mesh library implementation described in following paper “Terrainrekonstruktion aus Stereodaten von unterschiedlichen Posen (Malte Wirkus, 2010)”

The result of the rock-roby tutorial

Qt Widget for displaying google maps, terrains, open street maps etc. and the GPS position of the vehicle as overlay. All data can be cached and used offline. Qt Designer compatible (Based on OpenPilot/GCS)

Tests for the transformer oroGen plugin and rock-roby integration

The package set for the rock tests

orogen module for post processing log data. Currently very asguard specific.

Basic Auv control module.
Allows basic depth-heading control and dynamix motor command adaptation

Slides that go hand-in-hand with the Rock tutorials to make a proper course

A sensor compone for the Rock tutorials, which translates
a pair of target / local poses into bearing and distance.
It includes a test suite.

Allows to convert JPEG frames to RGB, BGR or GRAYSCALE and vice versa.

Orogen component for different Tritech Sonar devices.

Driver for dirrefent Underwader Sonars from Tritech
This Implementation also handles in an generic way the SeaNet Protocol.
Currently Supported Devices
– Micron DST Scanning Sonar
– SeaKing Profiling Head
– Echosounder

Driver for different sick laserscanners.
Currently only lms1xx tested, lms2xxx and ld could be added easily (see sourcecode comments).
This driver is based on the sicktoolbox.

Simple driver with reduced functionality for the qualisys motion tracking system.

This component provides pose data for a tracked object in the qualisys motion
tracking system. It uses a TCP connection to the QTM server to transfer live
tracking data

Unit tests for the drivers/orogen/iodrivers_base oroGen integration of the iodrivers_base driver implementation baseclass more…

The shared bundle that includes models and log management scripts for software included in Rock

Template for bundle packages more…

Driver for UVC compatible webcams, which can also be used together with the Gumstix camera e-CAM32 OMAP GSTIX. more…

oroGen component for the camera_usb library.

This filter is concerned with orientation estimation using inertial and magnetic sensors. A quaternion indirect Kalman filter structure is used. Magnetic sensor output is used only for yaw angle correction. Accelerometers for pitch and roll angles correction

Component that allows to create proxy connections. Allows to translate between connections with different connection policies.

Stripped down webgen environment that allows the command-line rock-doc-preview to work

Testing the integration of TaskProxy into vizkit.rb

Driver for ueye cameras from ids.

Orogen model for the ueye camera from ids.

This package provides a driver class, which is wrapping the driver for the
more…

 Vicon DataStream SDK (currently version 1.1) It is intended for easy acces
 to the device using Eigen2 types as interface types.   
 There is also a test application to get the complete stream (ViconDump) and  
 a test application for the driver.

This package provides the orocos module for the vicon tracking system. It allows to track a single subject/segment and provides the data as a rigidbodystate.

Example for a rock qt designer widget

A quaternion unscented kalman filter structure is used. This is based on an unscented variant of a Kalman filter.
The filter use the multiplicative quaternion approach, which means that the quaternion in the system perform incremental steps and is set to zero at each
filter loop. This approach avoids quaternion renormalization. Also the filter uses the gyroscopes model consisted by random walk (white noise) and rate random walk.
Ultimately, any attitude sensor can be used in the measurement step and more than one if available.

files to setup build VMs to test rock builds using vagrant

Scripts to setup automated builds (i.e. build servers). Some of these scripts are completely generic and some assume the use of jenkins.

Source code for the advanced rock tutorial data visualization

The Cheat Sheet for rock

Rock module/task in order to estimate the orientation or attitude of a rigid body.

This package includes wrapper classes for graph optimization packages, like e.g. HogMan. Its meant to provide a common interface for different optimization libraries.

This package contains a collection of odometry classes and configuration types, which calculate the relative movement of the robot depending on a change in the state of the robots actuators. Different robot classes like e.g. wheel or legged systems are covered here.

This library is a loose collection of tools which help with problems in statistics, data analysis and the like.