pedsim_ros - Pedestrian simulator powered by the social force model

  •        107

ROS packages for a 2D pedestrian simulator based on social force model of Helbing et. al. The implementation is based on an extended version of Christian Gloor's libpedsim library which has been extended to include additional behaviors and activities. This packages is useful for robot navigation experiments with crowded scenes which are hard to acquire in practice. The default version is now melodic. For kinetic please check out the branch kinetic which still depends on Qt4.

https://github.com/srl-freiburg/pedsim_ros

Tags
Implementation
License
Platform

   




Related Projects

spatio_temporal_voxel_layer - A new voxel layer leveraging modern 3D graphics tools to modernize navigation environmental representations

  •    C++

This is a drop in replacement for the voxel_grid voxel representation of the environment. This package does a number of things to improve on the voxel grid package and extend the capabilities offered to the users, under a LGPL v2.1 license. Developed and maintained by Steven Macenski at Simbe Robotics. Leveraging OpenVDB, we have the ability to efficiently maintain a 3 dimensional voxel-representative world space. We wrap this with ROS tools and interfaces to the navigation stack to allow for use of this layer in standard ROS configurations. It is certainly possible to utilize this package without ROS/Navigation and I invite other competing methodologies to develop here and create interfaces.

CrowdNav - [ICRA19] Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning

  •    Python

This repository contains the codes for our ICRA 2019 paper. For more details, please refer to the paper Crowd-Robot Interaction: Crowd-aware Robot Navigation with Attention-based Deep Reinforcement Learning. Mobility in an effective and socially-compliant manner is an essential yet challenging task for robots operating in crowded spaces. Recent works have shown the power of deep reinforcement learning techniques to learn socially cooperative policies. However, their cooperation ability deteriorates as the crowd grows since they typically relax the problem as a one-way Human-Robot interaction problem. In this work, we want to go beyond first-order Human-Robot interaction and more explicitly model Crowd-Robot Interaction (CRI). We propose to (i) rethink pairwise interactions with a self-attention mechanism, and (ii) jointly model Human-Robot as well as Human-Human interactions in the deep reinforcement learning framework. Our model captures the Human-Human interactions occurring in dense crowds that indirectly affects the robot's anticipation capability. Our proposed attentive pooling mechanism learns the collective importance of neighboring humans with respect to their future states. Various experiments demonstrate that our model can anticipate human dynamics and navigate in crowds with time efficiency, outperforming state-of-the-art methods.

uuv_simulator - Gazebo/ROS packages for underwater robotics simulation

  •    Python

The Unmanned Underwater Vehicle Simulator is a set of packages that include plugins and ROS applications that allow simulation of underwater vehicles in Gazebo. In you are willing to contribute to this package, please check the instructions in CONTRIBUTING.

darknet_ros - YOLO ROS: Real-Time Object Detection for ROS

  •    C++

This is a ROS package developed for object detection in camera images. You only look once (YOLO) is a state-of-the-art, real-time object detection system. In the following ROS package you are able to use YOLO (V3) on GPU and CPU. The pre-trained model of the convolutional neural network is able to detect pre-trained classes including the data set from VOC and COCO, or you can also create a network with your own detection objects. For more information about YOLO, Darknet, available training data and training YOLO see the following link: YOLO: Real-Time Object Detection. The YOLO packages have been tested under ROS Noetic and Ubuntu 20.04. Note: We also provide branches that work under ROS Melodic, ROS Foxy and ROS2.

webots - Webots Robot Simulator

  •    C++

Webots is an open-source robot simulator released under the terms of the Apache 2.0 license. It provides a complete development environment to model, program and simulate robots, vehicles and biomechanical systems. You can download pre-compiled binaries for Windows, macOS and Linux of the latest release, as well as older releases and nightly builds.


grid_map - Universal grid map library for mobile robotic mapping

  •    C++

This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. It is used in the Robot-Centric Elevation Mapping package designed for rough terrain navigation. The grid map package has been tested with ROS Indigo, Jade (under Ubuntu 14.04) and Kinetic (under Ubuntu 16.04). This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

clover - ROS-based framework and RPi image to control PX4-powered drones 🍀

  •    C++

Clover is an open source ROS-based framework, providing user-friendly tools to control PX4-powered drones. Clover is available as a ROS package, but is shipped mainly as a preconfigured image for Raspberry Pi. Once you've installed Raspberry Pi on your drone and flashed the image to its microSD card, taking the drone up in the air is a matter of minutes. COEX Clover Drone is an educational programmable drone kit, suited perfectly for running clover software. The kit is shipped unassembled and includes Pixracer-compatible autopilot running PX4 firmware, Raspberry Pi 4 as a companion computer, a camera for computer vision navigation as well as additional sensors and peripheral devices. Batteries included.

navigation - ROS Navigation stack

  •    C++

A 2D navigation stack that takes in information from odometry, sensor streams, and a goal pose and outputs safe velocity commands that are sent to a mobile base. For discussion, please check out the https://groups.google.com/group/ros-sig-navigation mailing list.

carma-platform - CARMA Platform is built on robot operating system (ROS) and utilizes open source software (OSS) that enables Cooperative Driving Automation (CDA) features to allow Automated Driving Systems to interact and cooperate with infrastructure and other vehicles through communication

  •    C++

CARMASM advances research and development to accelerate market readiness and deployment of cooperative driving automation, while advancing automated driving technology safety, security, data, and artificial intelligence. It encourages collaboration and participation by a community of engineers and researchers to advance understanding of cooperative driving automation using open source software (OSS) and agile project management practices. CARMA is a reusable, extensible platform for controlling SAE level 2 connected, automated vehicles (AVs). It provides a rich, generic API for third party plugins that implement vehicle guidance algorithms to plan vehicle trajectories. It is written in C++ and runs in a Robot Operating System (ROS) environment on Ubuntu. The platform can be reused on a variety of properly equipped vehicles. Migration has begun from the ROS 1 framework to ROS 2.

mcl_3dl - A ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s)

  •    C++

mcl_3dl is a ROS node to perform a probabilistic 3-D/6-DOF localization system for mobile robots with 3-D LIDAR(s). It implements pointcloud based Monte Carlo localization that uses a reference pointcloud as a map. The node receives the reference pointcloud as an environment map and localizes 6-DOF (x, y, z, yaw, pitch, roll) pose of measured pointclouds assisted by a motion prediction using odometry.

car_demo

  •    C++

This is a simulation of a Prius in gazebo 8 with sensor data being published using ROS kinetic The car's throttle, brake, steering, and gear shifting are controlled by publishing a ROS message. A ROS node allows driving with a gamepad or joystick. First clone the repo, then run the script build_demo.bash. It builds a docker image with the local source code inside.

champ - 𓃡 Quadruped Robot based on MIT Cheetah I

  •    C++

ROS Packages for CHAMP Quadruped Controller. CHAMP is an open source development framework for building new quadrupedal robots and developing new control algorithms. The control framework is based on "Hierarchical controller for highly dynamic locomotion utilizing pattern modulation and impedance control : implementation on the MIT Cheetah robot".

robot_navigation - Spiritual successor to ros-planning/navigation.

  •    C++

Spiritual successor to ros-planning/navigation.

teb_local_planner - An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

  •    C++

The teb_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. The underlying method called Timed Elastic Band locally optimizes the robot's trajectory with respect to trajectory execution time, separation from obstacles and compliance with kinodynamic constraints at runtime. Refer to http://wiki.ros.org/teb_local_planner for more information and tutorials.

elevation_mapping - Robot-centric elevation mapping for rough terrain navigation

  •    C++

This is a ROS package developed for elevation mapping with a mobile robot. The software is designed for (local) navigation tasks with robots which are equipped with a pose estimation (e.g. IMU & odometry) and a distance sensor (e.g. structured light (Kinect, RealSense), laser range sensor, stereo camera). The provided elevation map is limited around the robot and reflects the pose uncertainty that is aggregated through the motion of the robot (robot-centric mapping). This method is developed to explicitly handle drift of the robot pose estimation. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

grid_map - Universal grid map library for mobile robotic mapping

  •    C++

This is a C++ library with ROS interface to manage two-dimensional grid maps with multiple data layers. It is designed for mobile robotic mapping to store data such as elevation, variance, color, friction coefficient, foothold quality, surface normal, traversability etc. It is used in the Robot-Centric Elevation Mapping package designed for rough terrain navigation. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

ROS-Linux

  •    C

ROS-Linux is Rational OS for x86 PMC - Personal Mobile Computer platform. ROS-Linux is Opie environment on Qt/E atop uClibc Linux system.

PX4-Avoidance - PX4 avoidance ROS node for obstacle detection and avoidance.

  •    C++

The three algorithms are standalone and they are not meant to be used together. The local_planner requires less computational power but it doesn't compute optimal paths towards the goal since it doesn't store information about the already explored environment. An in-depth discussion on how it works can be found in this thesis. On the other hand, the global_planner is computationally more expensive since it builds a map of the environment. For the map to be good enough for navigation, accurate global position and heading are required. An in-depth discussion on how it works can be found in this thesis. The safe_landing_planner classifies the terrain underneath the vehicle based on the mean and standard deviation of the z coordinate of pointcloud points. The pointcloud from a downwards facing sensor is binned into a 2D grid based on the xy point coordinates. For each bin, the mean and standard deviation of z coordinate of the points are calculated and they are used to locate flat areas where it is safe to land.

ros-bridge - ROS bridge for CARLA Simulator

  •    Python

This ROS package is a bridge that enables two-way communication between ROS and CARLA. The information from the CARLA server is translated to ROS topics. In the same way, the messages sent between nodes in ROS get translated to commands to be applied in CARLA. Installation instructions and further documentation of the ROS bridge and additional packages are found here.






We have large collection of open source products. Follow the tags from Tag Cloud >>


Open source products are scattered around the web. Please provide information about the open source projects you own / you use. Add Projects.