Debian Science Project
Summary
Robotics
Debian Robotics-pakker

Denne metapakke er en del af Debian Pure Blend »Debian Science« og installer pakker forbundne med robotvidenskab.

Du er måske også interesseret i metapakken science-engineering.

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
Hændelsesbaseret ramme for distribueret mobil robotkontrol
Maintainer: Georges Khaznadar
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Asebas grunddel er en simpel virtuel maskine, lille nok til at blive afviklet på enhver 16-bit mikrocontroller. I Aseba er alle virtuelle maskiner forbundet i et netværk og alle deres programmer udvikles og fejlsøges fra et enkelt program, Aseba Studio.

Aseba gør det muligt at programmere Thymio, en lille robot til at opleve robotteknikkens univers og til at lære en robots sprog.

The package is enhanced by the following packages: aseba-plugin-blockly
Screenshots of package aseba
Choreonoid
Integreret robot-grafisk brugerflademiljø
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Choreonoid er et integreret robot-grafisk brugerflademiljø, som gør det muligt for brugere at tilføje deres egne funktioner på grundlag af diverse grundlæggende robotfunktioner.

The package is enhanced by the following packages: choreonoid-plugins-base
Gazebo9
Open Source Robotics Simulator - binære filer
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Gazebo er en simulator for flere robotter i udendørsmiljøer. Som Stage (del af projektet Player), kan den simulere en population af robotter, sensorer og objekter, men gør det i en tredimensionel verden. Den opretter både realistisk sensortilbagemelding og fysisk plausible interaktioner mellem objekter (den inkluderer en præcis simulering af stift-legeme fysik).

Denne pakke indeholder hovedprogrammets binære filer.

The package is enhanced by the following packages: gazebo9-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
Værktøjer for 3D-belægningsgitteroversættelse
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Biblioteket OctoMap implementerer en fremgangsmåde for 3D-belægningsgitteroversættelse, der tilbyder datastrukturer og oversættelsesalgoritmer i C++ specielt egnet for robotteknik. Oversættelsesimplementeringen er baseret på en octree og er designet til at overholde de følgende krav: Fuld 3D-model, egnet til opdatering, fleksibel og kompakt. Denne pakke indeholder værktøjer til brug med biblioteket Octomap.

Octovis
Visualiseringsværktøj for OctoMap
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Visualiseringsbibliotek for OctoMap-biblioteket baseret på Qt og libQGLViewer. Denne pakke indeholder værktøjet for visualisering. Det er en fremviser, som lader dig se en OctoMap.

Orca
Skriptbar skærmoplæser
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En fleksibel, kraftfuld hjælpeteknologi med mulighed for udvidelser, der giver slutbrugeren adgang til programmer og værktøjer der understøtter AT-SPI (f.eks GNOME-skrivebordet).

Orca definerer et sæt af standardhændelser (reaktioner på programbegivenheder) og tastebindinger (reaktion til brugertastetryk). Disse standardhændelser og tastebindinger kan overskrives på en per program basis. Orca opretter et skriptobjekt for hvert kørende program, som sammensmelter både standardhændelser og tastebindinger, og de programspecifikke. Orca leverer infrastrukturen til at aktivere og deaktivere disse skripts, samt et væld af tjenester tilgængelige indefra skriptene.

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 - metapakke for et fuldt skrivebord
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Denne pakke er en del af Robot OS (ROS). Det er en metapakke, som tilbyder det fulde ROS-skrivebordssystem.

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 - metapakke
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Denne pakke er en del af Robot OS (ROS). Det er en metapakke, der tilbyder hele ROS perception-systemet (inklusive ROS base).

Til forskel fra opstrøm tilbyder denne pakke ikke: image_pipeline, image_transport_plugins, laser_assembler, laser_filters, laser_geometry, perception_pcl. Installer dem fra kilden, hvis du skal bruge dem.

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, diagnostics, executive_smach, filters, robot_state_publisher, 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-simulatorer - metapakke
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Denne pakke er en del af Robot OS (ROS). Det er en metapakke, der tilbyder hele ROS robot-systemet (inklusive ROS robot).

Forskellig fra opstrøm, denne pakke tilbyder ikke: rqt_common_plugins, rqt_robot_plugins, stage_ros. Installer dem venligst fra kilde, hvis du skal bruge dem.

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
Programmer din Arduino fra kommandolinjen
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Arduino er en elektronisk prototypeplatform, i åben kildekode, baseret på fleksibelt og nemt at bruge udstyr og programmer. Platformen er lavet for kunstnere, designere, hobbyister og alle interesseret i oprettelse af interaktive objekter eller miljøer.

Denne pakke vil installere en Makefile, der giver mulighed for CLI-programmering af Arduinoplatformen.

Gnuplot
Kommandolinjedrevet interaktivt grafprogram
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Gnuplot er et portabelt kommandolinjedrevet, interaktivt data- og funktions-plotningsredskab, der understøtter en masse uddata-formater, heriblandt drivere til mange printere, (La)TeX, (x)fig og PostScript, og så videre. X11-uddata er blevet pakket i gnuplot-x11.

Datafiler og selvdefinerede funktioner kan manipuleres med et internt, C-lignende sprog. Du kan udføre udjævning, kurvetilpasning eller ikke-lineære fits (Flexible Image Transport System), samt arbejde med komplekse tal.

Denne pakke er til at installere en gnuplot med alle funktioner (-qt, x11 eller -nox).

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Libcoin-runtime
3D-grafiksæt på højt niveau - eksterne datafiler
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Eksterne datafiler brugt af biblioteket Coin på kørselstidspunktet. Dragger-geometrifilerne repræsenterer standarderne, som bruges hvis filerne ikke findes. Denne pakke er fuldstændig valgfri.

Octave
GNU Octave-sprog til talberegninger
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Octave er et (for det meste Matlab (R)-kompatibelt) højtniveausprog, primært beregnet til numeriske beregninger. Programmet tilbyder en nem brugerflade fra kommandolinjen til løsning af lineære og ikkelineære problemer numerisk.

Octave kan udvides dynamisk med filer i C++ som leveres af brugeren.

The package is enhanced by the following packages: liboctave-dev octave-doc 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)
Registry entries: SciCrunch 
Ompl-demos
Open Motion Planning Library (OMPL) - demoer
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Open Motion Planning Library er et sæt af samplingbaserede algoritmer for bevægelsesplanlægning. Indholdet af biblioteket er begrænset til disse algoritmer, hvilket betyder at der ikke er nogen miljøspecifikation, ingen kollisionsdetektion eller visualisering. Biblioteket er designet, så det nemt kan integreres i systemer, som tilbyder de yderligere krævede komponenter. Denne pakke indeholder et sæt af demoer for biblioteket.

Vtk7
Binære filer for VTK7
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Visualization Toolkit (VTK) er et programsystem for 3D-computergrafik, billedbehandling og visualisering.

Denne pakke tilbyder de binære filer for VTK7.

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.

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.

*Popularitycontest results: number of people who use this package regularly (number of people who upgraded this package recently) out of 203233