Debian Science Project
Summary
Robotics
Debian Robotics packages

This metapackage is part of the Debian Pure Blend "Debian Science" and installs packages related to Robotics.

You might also be interested in the science-engineering metapackage.

Description

For a better overview of the project's availability as a Debian package, each head row has a color code according to this scheme:

If you discover a project which looks like a good candidate for Debian Science to you, or if you have prepared an unofficial Debian package, please do not hesitate to send a description of that project to the Debian Science mailing list

Links to other tasks

Debian Science Robotics packages

Official Debian packages with high relevance

aseba
Event-based framework for distributed mobile robots control
Maintainer: Georges Khaznadar
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Aseba's core is a lightweight virtual machine, small enough to run on any 16 bits microcontroller. In Aseba, all virtual machines are linked in a network and all their programs are developed and debugged from a single application, Aseba Studio.

Aseba allows one to program Thymio, a small robot to discover the universe of robotics and learn a robot's language.

The package is enhanced by the following packages: aseba-plugin-blockly
Screenshots of package aseba
catkin-lint
Check Robot OS catkin packages for common errors
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This package is part of Robot OS (ROS). catkin_lint checks package configurations for the catkin build system of ROS. It runs a static analysis of the package.xml and CMakeLists.txt files in your package, and it will detect and report a number of common problems.

catkin-tools
Command line tools for catkin workspaces
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This package is part of ROS, the Robot Operating System. The catkin tools provide functionality to work with the catkin meta buildsystem and catkin workspaces, similar to the way the colcon tools support working with ROS 2 ament packages.

The catkin tools provide a convenient interface to build and test multiple packages in a catkin workspace, resolving all inter-dependencies and isolating the builds from each other.

This package installs the Python 3 module and the CLI executable.

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

The package is enhanced by the following packages: choreonoid-plugins-base
collada-urdf-tools
ROS collada_urdf tools
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This package contains tools to convert between Unified Robot Description Format (URDF) documents and COLLAborative Design Activity (COLLADA) documents.

It implements robot-specific COLLADA extensions as defined by http://openrave.programmingvision.com/index.php/Started:COLLADA

This package contains the tools.

gazebo9
transitional package
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This is a transitional package. It can safely be removed.

The package is enhanced by the following packages: gazebo9-plugin-base
joint-state-publisher
ROS joint_state_publisher
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This package contains a tool for setting and publishing joint state values for a given URDF. It publishes sensor_msgs/JointState messages for a robot. The package reads the robot_description parameter, finds all of the non-fixed joints and publishes a JointState message with all those joints defined.

It can be used in conjunction with the robot_state_publisher node to also publish transforms for all joint states.

jskeus
Lisp based intelligent robots programming system
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jskeus contains software developed and used by JSK at The University of Tokyo. This provides modeling classes for sensors, actuators and robot body as well as kinematics and dynamics function library for writing intelligent robot behaviors. It also contains graph data strucutre, point cloud data class, Bullet collision detection, BVH character animation, STL/WRL/DAE reader and writer and some extensions to EusLisp language

This package contains the irteus/irteusgl executable and accompanying demo files.

liburdfdom-tools
URDF DOM - tools
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The URDF (U-Robot Description Format) library provides core data structures and a simple XML parsers for populating the class data structures from an URDF file.

This package contains additional tools.

morse-simulator
??? missing short description for package morse-simulator :-(
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mrgingham
Chessboard finder for visual calibration routines
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Given an observed image containing a chessboard or a grid of circles, mrgingham locates the board in the image, and precisely computes the location of the chessboard corners (or circle centers). This is similar to the routines in OpenCV, but is faster and more robust.

This package provides the user-facing tools

octomap-tools
Tools for 3D occupancy grid mapping
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The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++ particularly suited for robotics. The map implementation is based on an octree and is designed to meet the following requirements: Full 3D model, Updatable, Flexible and Compact. This package contains tools to use with Octomap library.

octovis
Visualization tool for OctoMap
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Visualization library for the OctoMap library based on Qt and libQGLViewer. This package contains the tool for visualization. It's a viewer that lets you view an OctoMap.

orca
Scriptable screen reader
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A flexible, extensible, and powerful assistive technology that provides end-user access to applications and toolkits that support the AT-SPI (e.g., the GNOME desktop).

Orca defines a set of default behaviors (reactions to application events) and key bindings (reaction to user key presses). These default behaviors and key bindings can be overwritten on a per-application basis. Orca creates a script object for each running application, which merges both the default behaviors and key bindings, and the application specific ones. Orca provides the infrastructure to activate and deactivate scripts, as well as a host of services accessible from within the scripts.

pcl-ros-tools
Bridge between Robot OS library (ROS) and PCL - tools
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PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred bridge for 3D applications involving n-D Point Clouds and 3D geometry processing in ROS.

This package includes the tools.

ros-camera-calibration
ROS camera_calibration nodes
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This package is part of Robot OS (ROS). It provides routines for camera_calibration allows easy calibration of monocular or stereo cameras using a checkerboard calibration target. This package constains ROS nodes.

ros-desktop
Robot OS desktop metapackage
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This package is part of Robot OS (ROS). It is a metapackage which provides the ROS desktop system (including ROS robot and viz).

Different to upstream, this package does not provide: common_tutorials, geometry_tutorials, ros_tutorials, roslint, urdf_tutorial, visualization_tutorials. Please install them from source, if you need them.

ros-desktop-full
Robot OS desktop-full metapackage
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This package is part of Robot OS (ROS). It is a metapackage which provides the ROS desktop-full system.

ros-opencv-apps
opencv_apps Robot OS package - apps
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This package is part of Robot OS (ROS). It contains several ROS packages for working providing OpenCV functionalities in a simplest manner in ROS, i.e., running a launch file that corresponds to the functionality.

The package contains implementations for edge detection, structural analysis, people/face detection, motion analysis and object segmentation.

It contains the nodes and the ROS stuff of the opencv-apps.

ros-perception
Python Robot OS perception metapackage
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This package is part of Robot OS (ROS). It is a metapackage which provides all the ROS perception system (including ROS base).

Different to upstream, this package does not provide: laser_assembler, laser_filters, Please install them from source, if you need them.

ros-robot
Python Robot OS robot metapackage
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This package is part of Robot OS (ROS). It is a metapackage which provides all the ROS robot system (including ROS base).

Different to upstream, this package does not provide: control_msgs, executive_smach, filters, xacro. Please install them from source, if you need them.

ros-robot-state-publisher
Robot OS robot_state_publisher
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This package is part of Robot OS (ROS). This package allows you to publish the state of a robot to tf. Once the state gets published, it is available to all components in the system that also use tf. The package takes the joint angles of the robot as input and publishes the 3D poses of the robot links, using a kinematic tree model of the robot.

This package contains the tools.

ros-simulators
Python Robot OS simulators metapackage
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This package is part of Robot OS (ROS). It is a metapackage which provides all the ROS robot system (including ROS robot).

Different to upstream, this package does not provide: rqt_common_plugins, rqt_robot_plugins, stage_ros. Please install them from source, if you need them.

rosdiagnostic
command line tool to print aggregated diagnostic (Robot OS)
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This package is part of Robot OS (ROS). It contains a command to print aggregated diagnostic contents to the command line.

xenomai-runtime
Xenomai runtime utilities
Maintainer: Roland Stigge
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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.

Official Debian packages with lower relevance

arduino-ctags
Arduino fork of exuberant ctags
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This package is Arduino's own mix of Exuberant Ctags and Anjuta tags.

These tags are required by the Arduino builder to properly process Arduino sketches.

arduino-mk
Program your Arduino from the command line
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Arduino is an open-source electronics prototyping platform based on flexible, easy-to-use hardware and software. It's intended for artists, designers, hobbyists, and anyone interested in creating interactive objects or environments.

This package will install a Makefile to allow for CLI programming of the Arduino platform.

gnuplot
Command-line driven interactive plotting program.
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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 metapackage is to install a full-featured gnuplot (-qt, -x11 or -nox).

joint-state-publisher-gui
ROS joint_state_publisher_gui
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This package contains a tool for setting and publishing joint state values for a given URDF. It publishes sensor_msgs/JointState messages for a robot. The package reads the robot_description parameter, finds all of the non-fixed joints and publishes a JointState message with all those joints defined.

It can be used in conjunction with the robot_state_publisher node to also publish transforms for all joint states.

This package contains the Qt GUI

libcoin-runtime
high-level 3D graphics kit - external data files
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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.

octave
GNU Octave language for numerical computations
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Octave is a (mostly MATLAB® 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.

The package is enhanced by the following packages: liboctave-dev octave-dev octave-doc
Please cite: John W. Eaton, David Bateman, Søren Hauberg and Rik Wehbring: GNU Octave version 4.2.0 manual: a high-level interactive language for numerical computations. (2016)
Registry entries: SciCrunch 
ompl-demos
Open Motion Planning Library (OMPL) demos
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The Open Motion Planning Library is a set of sampling-based motion planning algorithms. The content of the library is limited to these algorithms, which means there is no environment specification, no collision detection or visualization. The library is designed so it can be easily integrated into systems that provide the additional needed components. This package contains a set of demos of the library.

vtk9
Binaries for VTK9
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The Visualization Toolkit (VTK) is an open-source software system for 3D computer graphics, image processing, and visualization.

This package provides binaries for VTK9

Please cite: Will Schroeder, Ken Martin and Bill Lorensen: The Visualization Toolkit (4th ed.) (2006)

Packaging has started and developers might try the packaging code in VCS

robot-player
Networked server for robots and sensors
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Version: 3.0.2+dfsg-5

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.

Unofficial packages built by somebody else

orocos-ocl
Orocos Component Library
License: LGPL

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.

orocos-rtt
Orocos Real-Time Toolkit
License: GPL + runtime exception

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.

No known packages available but some record of interest (WNPP bug)

openhrp - wnpp
OpenHRP robotics simulator
Responsible: Thomas Moulard
License: EPL (Eclipse Public License)
Debian package not available

OpenHRP3 (Open Architecture Human-centered Robotics Platform version 3) is an integrated software platform for robot simulations and software developments. It allows the users to inspect an original robot model and control program by dynamics simulation. In addition, OpenHRP3 provides various software components and calculation libraries that can be used for robotics related software developments.

openrtm - wnpp
OpenRTM robotics middleware
Responsible: Thomas Moulard
License: LGPL-3
Debian package not available

OpenRTM is a robotics middleware. It provides C++, Python, Java libraries to enable robotics component development and also integrates with Eclipse. This middleware is OMG RTC standard compliant and is used by the robotics community.

solid - wnpp
Software library for collision detection of geometric objects in 3D space.
License: GPL, QPL
Debian package not available
Language: C++

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.

No known packages available

d-collide
D-Collide is a real-time collision detection library aimed
License: BSD
Debian package not available

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

openrave
OpenRAVE robotics platform
License: LGPL-3
Debian package not available

OpenRAVE provides an environment for testing, developing, and deploying motion planning algorithms in real-world robotics applications. The main focus is on simulation and analysis of kinematic and geometric information related to motion planning. OpenRAVE's stand-alone nature allows is to be easily integrated into existing robotics systems.

It provides many command line tools to work with robots and planners, and the run-time core is small enough to be used inside controllers and bigger frameworks. An important target application is industrial robotics automation.

roboop
synthesis, and simulation of robotic manipulator models
License: GPL
Debian package not available

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
hard real-time network protocol stack
License: GPL
Debian package not available

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.

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