In the following the SW tools available for use in EuRoC are listed below (available as PDF):

• Generic motion planner
• Interface for planning from sensor localization
• Planner for fixed manipulator
• Inverse kinematics
• CoMuRoSim
• Grasp synthesis based on dynamic properties
• Contact planning (for manipulation)
• Force Control Design Tool
• Planner for mobile manipulator
• Collision avoidance
• Capability map
• Object Detection
• Wrench estimator
• Planner for UAVs
• RotorS
• Mav Planning Utils
• Multi-Sensor Fusion
• Volumetric Mapping
• Ros Vrpn Client
• Rovio
• Vehicle Monitor (MAV saver)
• Vicon depthcam Calib
• Image undistort tool
• Model Predictive Control for MAVs

Generic motion planner:

Obstacle avoidance and planning algorithms (probabilistic roadmap PRM, rapidly exploring random trees RRT).

• Related Deliverable: D6.1
• Type of Tool: C++ Code, with Python bindings, GUI and Corba interface
• Targeted Challenge: All
• Instructions for download: https://humanoid-path-planner.github.io/hpp-doc/

Interface for planning from sensor localization:

Planner initial and object positions can be set from sensor input using middleware interface.

• Related Deliverable: D6.1
• Type of Tool: Corba interface wrapping HPP core algorithms
• Targeted Challenge: All
• Instructions for download: https://github.com/humanoid-path-planner/hpp-corbaserver

Planner for fixed manipulator:

Sampling-based planner (PRM, RRT) dedicated to fixed manipulator..

• Related Deliverable: D6.3
• Type of Tool: C++ Code with Python- Corba interface. Documented by a tutorial dedicated to Challenge 1
• Targeted Challenge: C1
• Instructions for download: https://humanoid-path-planner.github.io/hpp-doc/download.html
• Video: https://www.youtube.com/watch?v=eY1Zjy2uHfc

Inverse kinematics:

Modular real-time IK tool for redundant robots, handling singularities and multiple tasks .

• Related Deliverable: D7.1
• Type of Tool: C++ libraries, ROS middleware
• Targeted Challenge: C1
• Instructions for download: https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9656356

CoMuRoSim:

Motion planning from a list of tasks in the context of coordinated control of cooperative multi‐robot systems .

• Related Deliverable: D7.1
• Type of Tool: MATLAB code
• Targeted Challenge: C1
• Instructions for download: https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9656743 and https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9656176

Grasp synthesis based on dynamic properties:

Finds optimal grasp configurations based on the object’s dynamic properties.

• Related Deliverable: D6.3
• Type of Tool: MATLAB Code
• Targeted Challenge: C1
• Instructions for download: https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9657236

Contact planning (for manipulation):

Sampling-based planner (PRM, RRT) dedicated to dynamic systems working in contact. The planner can generated sequences of nonrolling contacts for a dexterous hand manipulating an object.

• Related Deliverable: D6.2
• Type of Tool: C++ code with documentation
• Targeted Challenge: C1, C2
• Instructions for download: https://github.com/humanoid-path-planner/hpp-rbprm

Force Control Design Tool:

The tool is an aid for the design of position-based force control algorithms.

• Related Deliverable: D7.3
• Type of Tool: MATLAB code
• Targeted Challenge: C1, C2
• Instructions for download: https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9657237

Planner for mobile manipulator:

Sampling-based planner (PRM, RRT) dedicated to mobile manipulator..

• Related Deliverable: D6.3
• Type of Tool: C++ Code with Python- Corba interface. Documented by a tutorial
• Targeted Challenge: C2
• Instructions for download: https://humanoid-path-planner.github.io/hpp-doc/download.html
• Video: https://www.youtube.com/watch?v=7vCd9VD7LwE

Collision avoidance:

Potential field based approach for implementing a self-collision avoidance; can be activated in torque controlled operation mode of the arm.

• Related Deliverable: D7.2
• Type of Tool: Integrated Library
• Targeted Challenge: C2
• Instructions for download: Challenge II team SVN

Capability map:

Reachability analysis of the robot; Access to the capability map of the platform for approach position calculation and manipulability heuristics.

• Related Deliverable: D6.4
• Type of Tool: Integrated software library
• Targeted Challenge: C2
• Instructions for download: Challenge II team SVN

Object Detection:

3D-data based scene parsing; toolchain from CAD-Data to localization of objects in depth images.

• Related Deliverable: D5.1
• Type of Tool: Integrated software library
• Targeted Challenge: C2
• Instructions for download: Challenge II team SVN

Planner for UAVs:

Sampling-based planner (PRM, RRT) dedicated to underactuated UAVs like quadcopters.

• Related Deliverable: D6.1
• Type of Tool: C++ Code with Python- Corba interface. Documented by example scripts dedicated to Challenge 3
• Targeted Challenge: C3
• Instructions for download: https://github.com/jmirabel/hpp-quadcopter
• Video: https://www.youtube.com/watch?v=ruuXjAQAD1s

Image undistort tool:

Tool performing general image undistortion, stereo rectification and dense stereo reconstruction.

• Related Deliverable: D5.2
• Type of Tool: C++ code, ROS nodes
• Targeted Challenge: Ch3
• Instructions for download: https://github.com/ethz-asl/image_undistort

Wrench estimator:

Momentum-based estimator of external wrench and unmodeled dynamics for UAVs.

• Related Deliverable: D7.2
• Type of Tool: C++ code
• Targeted Challenge: C3
• Instructions for download: https://dms-prext.fraunhofer.de/livelink/livelink.exe?func=ll&objaction=overview&objid=9658762

RotorS:

A MAV gazebo simulator.

• Related Deliverable: D4.3
• Type of Tool: C++ gazebo library
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/rotors_simulator

Mav Planning Utils:

Plans smooth minimum snap trajectories for use in MAV path planning.

• Related Deliverable: D6.1
• Type of Tool: C++ library
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/mav_planning_utils

Model Predictive Control for MAVs:

A linear MPC and a non-linear MPC designed for agile MAV control.

• Related Deliverable: D7.2
• Type of Tool: C++ code, ROS nodes
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/mav_control_rw

Multi-Sensor Fusion:

Time delay compensated single and multi sensor fusion framework.

• Related Deliverable: D5.2
• Type of Tool: C++ library
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/ethzasl_msf

Volumetric Mapping:

A repository for 3D volumetric (occupancy) maps, providing a generic interface for disparity map and pointcloud insertion, and support for custom sensor error models.

• Related Deliverable: D5.3
• Type of Tool: C++ library / ROS node
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/volumetric_mapping

Ros Vrpn Client:

Ros interface for vicon that rejects outliers and uses an EKF to estimate trajectories.

• Related Deliverable: D4.3
• Type of Tool: C++ ROS node
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/ros_vrpn_client

Rovio:

Robust visual inertial odometry.

• Related Deliverable: D5.3
• Type of Tool: C++ ROS node
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/rovio

Vehicle Monitor (MAV saver):

System for automatically detecting collisions of MAVs and unsafe states.

• Related Deliverable: D4.3
• Type of Tool: C++ ROS node
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/euroc_stage_2/tree/master/vehicle_monitor

Vicon depthcam Calib:

Small tool for calibrating the offset between a depth camera and Vicon markers.

• Related Deliverable: D5.2
• Type of Tool: C++ ROS node
• Targeted Challenge: C3
• Instructions for download: https://github.com/ethz-asl/vicon_depthcam