Debian Science Project
Summary
Robotics-dev
Debian Robotics development packages

This metapackage is part of the Debian Pure Blend "Debian Science" and installs packages that are relevant to develop applications for robotics.

The list to the right includes various software projects which are of some interest to the Debian Science Project. Currently, only a few of them are available as Debian packages. It is our goal, however, to include all software in Debian Science which can sensibly add to a high quality Debian Pure Blend.

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-dev packages

Official Debian packages with high relevance

Libccd-dev
Library for collision detection between convex shapes - dev files
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libccd implements variation on Gilbert-Johnson-Keerthi (GJK) algorithm + Expand Polytope Algorithm (EPA). It also implements Minkowski Portal Refinement (MPR, a.k.a. XenoCollide) algorithm as published in Game Programming Gems 7. libccd is one of the very few open source libraries that include MPR algorithm working in 3-D space. However, there is a library called mpr2d, implemented in D programming language, that works in 2-D space.

This package contains development files (headers, shared library symbolic link and cmake file).

Libcnoid-dev
Integrated robotics GUI environment - development files
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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.

This package gathers development files required to compile Choreonoid plug-ins.

Libcomedi-dev
Development library for Comedi
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Comedilib is a library for using Comedi, a driver interface for data acquisition hardware.

This package contains headers, static libraries, documentation, and examples for writing software that uses the Comedilib library. You only need to install it if you plan to develop or compile software that uses Comedilib.

Libconsole-bridge-dev
console bridge - development files
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ROS-independent, pure CMake (i.e. non-catkin and non-rosbuild package) that provides logging calls that mirror those found in rosconsole, but for applications that are not necessarily using ROS.

This package contains the development files (headers, pkg-config and CMake files).

Libcv-dev
Translation package for libcv-dev
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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.

Libgazebo5-dev
Open Source Robotics Simulator - Development Files
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Gazebo is a multi-robot simulator for outdoor environments. Like Stage (part of the Player project), it is capable of simulating a population of robots, sensors and objects, but does so in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects (it includes an accurate simulation of rigid-body physics).

This package contains development files (headers, shared library symbolic link and pkg-config file).

Libignition-math2-dev
Ignition Robotics Math Library - Development files
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A small, fast, and high performance math library. This library is a self-contained set of classes and functions suitable for robot applications.

Ignition Robtics is a set of simple libraries that provide useful functionality to bootstrap robot applications. The included libraries encapsulate all the essentials, such as common math data types, console logging, 3D mesh management, and asynchronous message passing.

Libignition-transport-dev
Ignition Robotics transport Library - Development files
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Ignition transport library combines ZeroMQ with Protobufs to create a fast and efficient message passing system. Asynchronous message publication and subscription is provided along with service calls and discovery.

Ignition Robtics is a set of simple libraries that provide useful functionality to bootstrap robot applications. The included libraries encapsulate all the essentials, such as common math data types, console logging, 3D mesh management, and asynchronous message passing.

Liboctomap-dev
Octomap library development files
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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 the development stuff.

Libode-dev
Open Dynamics Engine - development files
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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.

Libompl-dev
OMPL library development files
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Consists of 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 the needed developtment files to use the library.

Libopenigtlink-dev
Open IGT Link is a simple network protocol - development
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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.

For example applications may include:

  • Stereotactic surgical guidance using optical position sensor and medical image visualization software.
  • Intraoperative image guidance using real-time MRI and medical image visualization software
  • Robot-assisted intervention using robotic device and surgical planning software

This package contains the development files needed to build your own IGT applications.

Libroboptim-core-dev
numerical optimization library - development files
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RobOptim is a set of packages designed to make robotics non-linear optimization problem easier to solve. It is composed of several packages which are focusing on different kind of problem related to robotics, especially humanoid robotics.

This package contains development files (headers and shared library symbolic link).

Libsdformat-dev
Simulation Description Format (SDF) parser - Development files
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SDF is an XML file format that describes environments, objects, and robots in a manner suitable for robotic applications. SDF is capable of representing and describing different physic engines, lighting properties, terrain, static or dynamic objects, and articulated robots with various sensors, and acutators. The format of SDF is also described by XML, which facilitates updates and allows conversion from previous versions. A parser is also contained within this package that reads SDF files and returns a C++ interface.

This package contains development files (headers, shared library symbolic link and cmake file).

Libsimbody-dev
SimTK multibody dynamics API - development files
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Simbody is a SimTK toolset providing general multibody dynamics capability, that is, the ability to solve Newton's 2nd law F=ma in any set of generalized coordinates subject to arbitrary constraints. Simbody is provided as an open source, object-oriented C++ API and delivers high-performance, accuracy-controlled science/engineering-quality results.

This package contains development files (headers, shared library symbolic link and pkg-config file).

Libslicot-dev
numerical algorithms from systems and control theory (static library)
Maintainer: Debian Science Team ()
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SLICOT (Subroutine Library In COntrol Theory) is a general purpose basic mathematical library for control theoretical computations. The library provides tools to perform essential system analysis and synthesis tasks. The main emphasis in SLICOT is on numerical reliability of implemented algorithms and the numerical robustness and efficiency of routines. Providing algorithmic flexibility and the use of rigorous implementation and documentation standards are other SLICOT features.

SLICOT is written is Fortran 77 and builds upon the numerical linear algebra routines from BLAS (Basic Linear Algebra Subroutines) and LAPACK (Linear Algebra PACKage).

This package contains a static version of the library.

Please cite: P. Benner, V. Mehrmann, V. Sima, S. Van Huffel and A. Varga: SLICOT - A Subroutine Library in Systems and Control Theory Applied and Computational Control, Signals, and Circuits 1(10):505-546 (1999)
Liburdfdom-dev
URDF DOM - development files
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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 the development files (headers, pkg-config and CMake files).

Liburdfdom-headers-dev
URDF DOM - header files
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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 the headers files.

Libvisp-dev
visual servoing library - development files
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ViSP, standing for Visual Servoing Platform, is unique. This software is a complete cross-platform solution that allows prototyping and developing applications in visual tracking and visual servoing.

ViSP can be useful in robotics, computer vision, augmented reality and computer animation.

This package contains development files (headers and shared library symbolic link).

Python-comedilib
Python wrapper for Comedilib
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Comedilib is a library for using Comedi, a driver interface for data acquisition hardware. See the libcomedi0 package for more information.

This package provides Python bindings to the comedi library.

Official Debian packages with lower relevance

Visp-images-data
visual servoing library - reference files
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ViSP, standing for Visual Servoing Platform, is a complete cross-platform library that allows prototyping and developing applications in visual tracking and visual servoing.

ViSP can be useful in robotics, computer vision, augmented reality and computer animation.

This package contains reference data for ViSP.

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