Repository Summary

Checkout URI https://github.com/ROBOTIS-GIT/humanoid_navigation.git
VCS Type git
VCS Version kinetic-devel
Last Updated 2018-04-19
Dev Status MAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Packages

README

Humanoid Navigation

ROS Packages for Humanoid Navigation

Version Kinetic + Ubuntu Xenial Melodic + Ubuntu Bionic
GitHub version Build Status -

Wiki for humanoid_navigation Packages

  • humanoid_navigation: ROS metapackages with footstep planning and localization for humanoid / biped robots. This metapackge contains subpackages like footstep_planner, gridmap_2d, humanoid_localization, humanoid_planner_2d.
    • Author: Armin Hornung, Johannes Garimort, Stefan Osswald, Daniel Maier
    • License: GPLv3, BSD
  • footstep_planner: This package a footstep planner for humanoid / biped robots. The planner builds on SBPL and has anytime as well as dynamic replanning capabilities. The supported planners are: ARA*, AD*, R*.
    • Author: Johannes Garimort, Armin Hornung
    • License: GPLv3
  • gridmap_2d: This package is a simple 2D grid map structure, based on OpenCV's 'cv::Mat'.
    • Author: Armin Hornung
    • License: BSD
  • humanoid_localization: 6D localization for humanoid robots based on depth data (laser, point clouds). Two observation models are currently available based on OctoMap as 3D map: Ray casting and an end point model (lookup in the distance map).
    • Author: Armin Hornung, Stefan Osswald, Daniel Maier
    • License: GPLv3
  • humanoid_planner_2d: Thi package provides a simple 2D path planner as wrapper around SBPL (ARA*, AD*, R*).
    • Author: Armin Hornung
    • License: BSD
  • Papers related to these packages:
  "Humanoid robot localization in complex indoor environments",
  by A. Hornung, K. M. Wurm and M. Bennewitz,
  2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 1690-1695.
  doi: 10.1109/IROS.2010.5649751

  "Humanoid navigation with dynamic footstep plans",
  by J. Garimort, A. Hornung and M. Bennewitz,
  2011 IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 3982-3987.
  doi: 10.1109/ICRA.2011.5979656

  "Anytime search-based footstep planning with suboptimality bounds", 
  by A. Hornung, A. Dornbush, M. Likhachev and M. Bennewitz,
  2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), 2012, pp. 674-679.
  doi: 10.1109/HUMANOIDS.2012.6651592


Notice for Original Source Code and author, maintainer

This packages are a modified version by forking the following humanoid_navigation package by ROBOTIS. Please refer to the following links for original information.

CONTRIBUTING

No CONTRIBUTING.md found.