This repository contains the ROS packages of the research at the Autonomous Intelligent Systems Lab and the Humanoid Robots Lab at the Albert-Ludwigs-Unversität in Freiburg, Germany.
It is currently maintained by Jürgen Sturm and Armin Hornung.
InstallationDownload a recent package (if available) or checkout the source. Add the source directory to your ROS_PACKAGE_PATH (e.g. in ~/.bashrc.ros), source that file and run rosmake nao or rosmake articulation.
Nao StackFreiburg's Nao stack contains some ROS nodes for teleoperation and sensor reading of the Nao humanoid robot. To run the control nodes on the Nao robot, you need to install Brown University's ROS driver on the Nao, but you can also connect remotely.
More info and documentation is available at ROS.org: http://www.ros.org/wiki/nao
Articulation Models StackThis stack provides software that can recover articulation models given 3D or 6D pose trajectories. The articulation_models package defines messages and services for exchanging trajectories and kinematic models. Models can be fitted to the data, and selected according to the Bayesian information criterion (BIC). The models assign likelihoods to each observation, can predict the current configuration of the object, predict its pose, predict the Jacobian, etc. Several demonstration launch files are available.
More info: OverviewArticulationModels
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