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

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
Gazebo7
Open Source Robotics Simulator - Binaries
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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 then main application binaries

The package is enhanced by the following packages: gazebo7-plugin-base
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
Multi-OpenRobot Simulation Engine
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List of morse features:

  • Versatile simulator for generic mobile robots simulation (single or multi robots),
  • Realistic and dynamic environments (interaction with other agents like humans or objects),
  • Based on well known and widely adopted open source projects (Blender for 3D rendering + UI, Bullet for physics simulation, dedicated robotic middlewares for communications + robot hardware support),
  • Seamless workflow: since the simulator rely on Blender for both modeling and the real time 3D engine, creating and modifying a simulated scene is straightforward.
  • Entirely scriptable in Python,
  • Adaptable to various level of simulation realism (for instance the simulation of exteroceptive sensors like cameras or a direct access to higher level representations of the world, like labeled artifacts),
  • Currently compatible with ROS, YARP and the LAAS OpenRobots robotics frameworks,
  • Easy to integrate to other environments via a simple socket interface,
  • Fully open source, BSD license.
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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.

Robot-player
Networked server for robots and sensors
Maintainer: Michael Janssen
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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.

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, structual 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: image_pipeline, image_transport_plugins, laser_assembler, laser_filters, laser_geometry, perception_pcl. Please install them from source, if you need them.

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.

Rtai
Real Time Application Interface
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RTAI is a realtime extension with a broad variety of services which make realtime programmers' lifes easier. Some of them are

 choose between FIFO and RR scheduling policies on a per task basis.
 extended POSIX APIs and message queues, in kernel and user space
 semaphores can be typed as: counting, binary and resource
 a mailbox implementation
 LXRT for hard real time in user space

This is a metapackage that depends on the latest versions of the individual RTAI packages.

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-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).

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Libcoin60-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.

Libvtk5.4
Visualization Toolkit - A high level 3D visualization library
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The Visualization Toolkit (VTK) is an object oriented, high level library that allows one to easily write C++ programs, Tcl, Python and Java scripts that do 3D visualization.

VTK enables users to concentrate on their work by providing a large number of excellent and feature packed high level functions that do visualization. The library needs OpenGL to render the graphics and for Linux machines Mesa is necessary. The terms/copyright can be read in /usr/share/doc/vtk/README and README.html. VTK-Linux-HOWTO has information about using vtk, getting documentataion or help and instructions on building VTK.

This package provides the shared libraries needed to run C++ programs that use VTK.

To compile C++ code that uses VTK you have to install libvtk5-dev.

Octave
GNU Octave language for numerical computations
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Octave is a (mostly Matlab (R) 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: texmacs
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)
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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.

Unofficial packages built by somebody else

Orocos-bfl
framework for inference in Dynamic Bayesian Networks
License: GPL + runtime exception

The Bayesian Filtering Library (BFL) provides an application independent framework for inference in Dynamic Bayesian Networks, i.e., recursive information processing and estimation algorithms based on Bayes' rule, such as (Extended) Kalman Filters, Particle Filters (or Sequential Monte Carlo methods), etc. These algorithms can, for example, be run on top of the Realtime Services, or be used for estimation in Kinematics & Dynamics applications.

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.

Pcl - wnpp
Point Cloud Library
Responsible: Paride Legovini
License: BSD-3-clause
Debian package not available

PCL (Point Cloud Library) is a standalone open-source framework including numerous state-of-the art algorithms for n-dimensional point clouds and 3D geometry processing. The library contains algorithms for filtering, feature estimation, surface reconstruction, registration, model fitting, and segmentation. PCL is developed by a large consortium of researchers and engineers around the world. It is written in C++ and released under the BSD license.

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.

Orca
developing component-based robotic systems
License: LGPL and GPL
Debian package not available

Orca is an open-source framework for developing component-based robotic systems. It provides the means for defining and developing the building-blocks which can be pieced together to form arbitrarily complex robotic systems, from single vehicles to distributed sensor networks.

Orocos-kdl
Kinematics and Dynamics Library
License: LGPL
Debian package not available

The Kinematics and Dynamics Library (KDL) develops an application independent framework for modelling and computation of kinematic chains, such as robots, biomechanical human models, computer-animated figures, machine tools, etc. It provides class libraries for geometrical objects (point, frame, line,... ), kinematic chains of various families (serial, humanoid, parallel, mobile,... ), and their motion specification and interpolation.

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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