Debian Science Robotics packages

Choreonoid is an integrated robotics GUI environment, which allows users to add their own functions on the basis of various basic robotics functions.

Gnuplot is a portable command-line driven interactive data and function plotting utility that supports lots of output formats, including drivers for many printers, (La)TeX, (x)fig, Postscript, and so on. The X11-output is packaged in gnuplot-x11.

Data files and self-defined functions can be manipulated by the internal C-like language. Can perform smoothing, spline-fitting, or nonlinear fits, and can work with complex numbers.

This package is for transition and to install a full-featured gnuplot supporting the X11-output.

The Boost web site provides free, peer-reviewed, portable C++ source libraries. The emphasis is on libraries which work well with the C++ Standard Library. One goal is to establish "existing practice" and provide reference implementations so that the Boost libraries are suitable for eventual standardization. Some of the libraries have already been proposed for inclusion in the C++ Standards Committee's upcoming C++ Standard Library Technical Report.

This package provides headers and the auxiliary tools bjam, Boost.Build, bcp, inspect, boostbook and quickbook.

For the following subprojects separate packages exist: chrono, date-time, filesystem, graph, iostreams, locale, math, mpi, program_options, python, regex, serialization, signals, system, test, thread, timer, and wave.

This package is a dependency package, which depends on Debian's default Boost version (currently 1.49).

External data files used by the Coin library at run-time. The dragger geometry files represent the defaults that are used if the files are not found. This package is completely optional.

Comedilib is a library for using Comedi, a driver interface for data acquisition hardware. Comedi supports a wide variety of ISA and PCI devices that contain analog-to-digital converters, digital-to-analog converters, digital input/output, counters and timers. The full list of support devices can be found in the libcomedi-dev documentation.

This package contains the shared library component of Comedilib. In general, this package will be automatically installed as a dependency of application or other library packages.

In order to effectively use this package, you need to have compiled and installed the Comedi kernel modules. The source for Comedi is available in the comedi-source package, which also contains instructions on how to compile and install the modules.

This package provide files for translation from libcv-dev to subdivided packages.

This package contains the header files and static library needed to compile applications that use OpenCV (Open Computer Vision).

The Open Computer Vision Library is a collection of algorithms and sample code for various computer vision problems. The library is compatible with IPL (Intel's Image Processing Library) and, if available, can use IPP (Intel's Integrated Performance Primitives) for better performance.

OpenCV provides low level portable data types and operators, and a set of high level functionalities for video acquisition, image processing and analysis, structural analysis, motion analysis and object tracking, object recognition, camera calibration and 3D reconstruction.

ODE is a free, industrial quality library for simulating articulated rigid body dynamics - for example ground vehicles, legged creatures, and moving objects in VR environments. It is fast, flexible, robust and platform independent, with advanced joints, contact with friction, and built-in collision detection.

This package provides the header files and static libraries built with double precision.

Open IGT Link is a simple network protocol intended for trackers, robots and other devices to send data to the main application. Some devices might also accept commands.

This package contains library files for OpenIGTLink.

The Visualization Toolkit (VTK) is an object oriented, high level library that allows one to easily write C++ programs, Tcl, Python and Java scripts that do 3D visualization.

VTK enables users to concentrate on their work by providing a large number of excellent and feature packed high level functions that do visualization. The library needs OpenGL to render the graphics and for Linux machines Mesa is necessary. The terms/copyright can be read in /usr/share/doc/vtk/README and README.html. VTK-Linux-HOWTO has information about using vtk, getting documentataion or help and instructions on building VTK.

This package provides the shared libraries needed to run C++ programs that use VTK.

To compile C++ code that uses VTK you have to install libvtk5-dev.

List of morse features:

• Versatile simulator for generic mobile robots simulation (single or multi robots),
• Realistic and dynamic environments (interaction with other agents like humans or objects),
• Based on well known and widely adopted open source projects (Blender for 3D rendering + UI, Bullet for physics simulation, dedicated robotic middlewares for communications + robot hardware support),
• Seamless workflow: since the simulator rely on Blender for both modeling and the real time 3D engine, creating and modifying a simulated scene is straightforward.
• Entirely scriptable in Python,
• Adaptable to various level of simulation realism (for instance the simulation of exteroceptive sensors like cameras or a direct access to higher level representations of the world, like labeled artifacts),
• Currently compatible with ROS, YARP and the LAAS OpenRobots robotics frameworks,
• Easy to integrate to other environments via a simple socket interface,
• Fully open source, BSD license.

Octave is a (mostly Matlab (R) compatible) high-level language, primarily intended for numerical computations. It provides a convenient command-line interface for solving linear and nonlinear problems numerically.

Octave can be dynamically extended with user-supplied C++ files.

Provides a network interface to a variety of robot and sensor hardware. Player's client/server model allows robot control programs to be written in any programming language and to run on any computer with a network connection to the robot. Player supports multiple concurrent client connections to devices, creating new possibilities for distributed and collaborative sensing and control.

Player supports a wide variety of mobile robots and accessories.

RTAI is a realtime extension with a broad variety of services which make realtime programmers' lifes easier. Some of them are

 choose between FIFO and RR scheduling policies on a per task basis.
 extended POSIX APIs and message queues, in kernel and user space
 semaphores can be typed as: counting, binary and resource
 a mailbox implementation
 LXRT for hard real time in user space

This is a metapackage that depends on the latest versions of the individual RTAI packages.

Xenomai is a real-time development framework cooperating with the Linux kernel in order to provide a pervasive, interface-agnostic, hard real-time support to user-space applications, seamlessly integrated into the GNU/Linux environment. Xenomai provides its own API and emulation layers ("skins") to make migration from other RTOS easier. Examples are: pSOS+, VxWorks, VRTX, uiTRON, RTAI, POSIX.

This package contains the runtime programs and the testsuite for the Xenomai realtime system.

The Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule, such as (Extended) Kalman Filters, Particle Filters (or Sequential Monte Carlo methods), etc. These algorithms can, for example, be run on top of the Realtime Services, or be used for estimation in Kinematics & Dynamics applications.

The Orocos Component Library uses the Real-Time Toolkit (RTT) for constructing all its components. Some components use the Kinematics and Dynamics Library (KDL), the Bayesian Filtering Library (BFL) or other libraries.

The Orocos Real-Time Toolkit (RTT) is not an application in itself, but it provides the infrastructure and the functionalities to build robotics applications in C++. The emphasis is on real-time, online interactive and component based applications.

Collision detection is the process of detecting pairs of objects that are intersecting or are within a given proximity of each other. SOLID contains operations for performing intersection tests and proximity queries on a wide variety of shape types, including: deformable triangle meshes, boxes, ellipsoids, and convex polyhedra.

Since it exploits temporal coherence in a number of ways, SOLID is especially useful for detecting collisions between objects that move smoothly over time. The motions of objects are controlled by the client application, and are not determined or affected by SOLID.

Although it can be used for physics-based simulations, SOLID is not a physics engine by itself. SOLID leaves it up to the application programmer how the laws of physics are implemented.

at performance and accuracy, that supports rigid objects as well as deformables - such as cloth - including self-collision detection.

Orca is an open-source framework for developing component-based robotic systems. It provides the means for defining and developing the building-blocks which can be pieced together to form arbitrarily complex robotic systems, from single vehicles to distributed sensor networks.

The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line,... ), kinematic chains of various families (serial, humanoid, parallel, mobile,... ), and their motion specification and interpolation.

ROBOOP is a C++ robotics object oriented programming toolbox suitable for synthesis, and simulation of robotic manipulator models in an environment that provides ``MATLAB like'' features for the treatment of matrices. Its is a portable tool that does not require the use of commercial software.

RTnet is an Open Soure hard real-time network protocol stack for Xenomai and RTAI (real-time Linux extensions). It makes use of standard Ethernet hardware and supports several popular NIC chip sets, including Gigabit Ethernet. Moreover, Ethernet-over-1394 support is available based on the RT-FireWire protocol stack.