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Software maintained by the Robotics Lab Service

This is the list of all currently available tools provided to develop new drivers and applications. You can find all the documentation about divers and applications in here

Ubuntu package repository

In order to make easy for the people who want to use the software but do not need to develop on it, we provide our own Ubuntu package repository.

Packages not in the repository

Not all our software has been build as package. Some applications use non open source libraries and others are still being worked on to reach the repo. It you don't find one of them, you can always download it using the SVN instructions detailed in its own wiki page (list is above).

Set up sources.list

We currently support the following Ubuntu versions:

Ubuntu 10.04 (lucid)

sudo sh -c 'echo "deb http://devel.iri.upc.edu/packages/labrobotica/ lucid main" > /etc/apt/sources.list.d/iri-ros.list'

Ubuntu 10.10 (maverick)

sudo sh -c 'echo "deb http://devel.iri.upc.edu/packages/labrobotica/ maverick  main" > /etc/apt/sources.list.d/iri-ros.list'

Ubuntu 11.04 (natty)

sudo sh -c 'echo "deb http://devel.iri.upc.edu/packages/labrobotica/ natty main" > /etc/apt/sources.list.d/iri-ros.list'

There is no support for signing packages at this moment so you will see a warning when trying to install them. It will be implement in the future.

Utilities

• Utilities library: set of basic tools including threads, logic events, mutual exclusion mechanisms as well as time managing and basic log objects.

• Communications library: set of drivers for standard communication devices, including the serial port, sockets, etc. A generic communication device is also provided to easily generate new drivers.

• Iri doc folder: This folder contains the IRI documentation style: doxygen file, header and footer files and images of the style.

• Motor control library: Generic class to easily develop unified motor controllers. This library provides basic features needed to control a motor and is highly configurable.

• Dynamixel library: Library which provides an easy way to handle all the dynamixel compliant devices on a bus and also the basic input/output functions to access any of them.

Drivers

Next there is a comprehensive list of all the drivers developed at the laboratory grouped by its type.

Sensors

• Firewire camera driver: drivers to use, configure and test IIDC firewire cameras.

• Hokuyo Laser 3D driver: driver for the 3D Laser scanner based in the Hokuyo UTM30LX.

• Hokuyo Laser driver: driver for the [1]Hokuyo Laser, both USB and Ethernet.

• Time of flight cameras: library which includes drivers for the SwissRanger SR4000 from Mesa Imaging and the CamCube from PMD Technologies.

• FTC force sensor driver: driver for the 6 axis FTC force sensor from SCHUNK.

• Phidget 1049 accelerometer: driver for the Phidget 1049 3 axis accelerometer.

• Phidget 1056 inertial sensor: driver for the Phidget 1056 inertial sensors which measures acceleration, magnetic field and angular rotation in 3 axis.

• TCM3 compass driver: driver for the TCM3 compass from PNI Corp.

• AstRX1 GPS driver: driver for the AstRX1 GPS unit from Septentrio.

• Leuze laser driver: driver for the RotoScan RS4 laser form Leuze.

• MiniBird driver: driver for the mini-BIRD positioning system.

Motor control

• Epos controller driver: driver in C for Maxon EPOS2 Motor Controller.

• Epos2 controller driver: driver for Maxon EPOS2 Motor Controller.

• SD84 servo controller driver: driver for the SD84 board which can control up to 84 analog servos and has several analog inputs as well.

• MCDC2805 controller driver: driver to handle the 1 axis MCDC2805 controller from Faulhaber.

• DMC1880 controller driver: driver to handle the 8 axis DMC1880 controller from Galil.

• Dynamixel motor controller driver: driver to handle the Dynamixel Servos from Robotis. With this driver is possible to control all the current servos available.

• Phidget motor controller: driver to handle the Phidget 1061 8 axis servo controller.

Platforms

• Segway RMP 200 driver: driver for the mobile platform Segway RMP 200.

• Segway RMP 400 driver: driver for the mobile platform Segway RMP 400.

• Robot XY: driver for the XY robot available in the Staubli work cell.

• WAM driver: driver for the WAM manipulator from Barret.

Other

• Joystick driver: driver for a generic joystick or game pad for Linux.

• Meg50ec gripper driver: driver for the Schunk Meg50ec gripper.

• USB-I2C adapter driver: driver for this USB-I2C adapater to connect I2C devices into a standard computer.

• Pan & Tilt PTU-D46 driver: driver for the pan and tilt unit PTU-D46 from direct perception

Applications

Next there is a comprehensive list of simple applications that may prove useful for developing purposes.

• Segway monitor: simple application to monitor segway robots.

• Segway joystick: simple application to control a segway with a joystick.

• Dynamixel Manager: simple graphical application to detect dynamixel devices connected to a bus and to access their registers.

• Dynamixel Motor Manager: simple graphical application to detect dynamixel servos connected to a bus and configure and control them.

• WAM POMDP: POMDP modeling using Cassandra's Syntax