Skip to content
@Robotics-Research-Group-KUL

Robotics Research Group at KU Leuven

collection of hardware drivers and public software
README.md

Software at the Robotics Group (KU Leuven)

Orocos and rtt-ros packages

While Orocos is nowadays maintained externally, we keep some packages that can prove useful

rtt-ros for ROS1 (noetic)

  • rtt_ros_utilities: a meta-package containing the following packages
    • rttlua_completion: enable tab completion on rttlua shell
    • rFSM: state machine forlua
    • `rtt_dot_service: create a dot graf from the current deployment
  • python_gui: a configurable ROS graphical interface to send events to rFSM.
  • URDriver: drivers to to to use UR robots with ROS
  • rtt_soem: component for EtherCAT master, with some plugins - mainly Beckhoff modules
  • rtt_soem_maxpos: ethercat drivers for the MaxPos, a motor driver from Maxon motors.

rtt-ros for ROS2 (foxy)

  • rtt_ros2_utilities: a meta package containing the following packages
    • motion_control: legacy message types (ros2 branch)
    • rFSM (ros2 branch)
    • ros2_rtt_typekits: typekits for eigen and KDL
    • rtt_dot_service: (ros2 branch)
    • rttlua_completion: (ros2 branch)
  • rtt_ros2_pkg: adding the command to create packages for orocos in rtt-ros2 integration.
  • python_gui_ros2: a configurable ROS graphical interface to send events to rFSM.
  • soem for ROS2 - necessary for rtt_soem, please use the correct branch (foxy_devel branch).
  • rtt_soem: (ros2 branch)

Docker images

Images for ros1 and ros2 with the utilities installed can be found here:

https://hub.docker.com/r/gborghesan/orocos

Popular repositories Loading

  1. URDriver URDriver Public

    orocos components for interfacing with UR robots

    C++ 3 4

  2. python_gui python_gui Public

    Python 1 1

  3. rtt_soem_maxpos rtt_soem_maxpos Public

    MaxPos drivers for orocos soem master.

    C++ 1

  4. rFSM rFSM Public

    Forked from kmarkus/rFSM

    rFSM is a lightweight Statechart implementation in Lua

    Lua

  5. rttlua_completion rttlua_completion Public

    Forked from orocos-toolchain/rttlua_completion

    Tab Completion module for rttlua

    Lua

  6. soem soem Public

    Forked from cplasberg/soem

    ROS package wrapping the Simple Open EtherCAT Master (SOEM) from https://github.com/OpenEtherCATsociety/SOEM

    C

Repositories

Showing 10 of 15 repositories
View all repositories

Top languages

Loading…

Most used topics

Loading…