Debian Science Project
Summary
Robotics
paquets de robotique de Debian

Ce paquet fait partie du mélange exclusif « Debian Science » et installe les paquets concernant la robotique.

L’utilisateur peut aussi être intéressé par le métapaquet 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
environnement basé sur les événements pour le contrôle distribué de robots mobiles
Maintainer: Georges Khaznadar
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Le cœur d’Aseba est une machine virtuelle légère, assez petite pour s’exécuter sur tous les microcontrôleurs 16 bits. Dans Aseba, toutes les machines virtuelles sont liées dans un réseau et tous leurs programmes sont développés et débogués depuis une seule application, Aseba Studio.

Aseba permet de programmer Thymio, un petit robot servant à découvrir l’univers de la robotique et à apprendre le langage d’un robot.

The package is enhanced by the following packages: aseba-plugin-blockly
Screenshots of package aseba
Choreonoid
Integrated robotics GUI environment
Maintainer: Thomas Moulard
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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
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
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
Maintainer: Debian Science Team
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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
outil de visualisation pour OctoMap
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Il s’agit d’une bibliothèque de visualisation pour la bibliothèque OctoMap, basée sur Qt et libQGLViewer. Ce paquet fournit l’outil d’affichage. C’est un visualisateur permettant d’afficher une OctoMap.

Orca
lecteur d'écran scriptable
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Il s’agit d’une technologie d’assistance souple, extensible et puissante fournissant pour les utilisateurs un accès aux applications et boîtes à outils prenant en charge AT-SPI (Assistive Technology Service Provider Interface) (par exemple, le bureau GNOME).

Orca définit un ensemble de comportements par défaut (réactions aux évènements des applications) et aux raccourcis clavier. Ces comportements par défaut et raccourcis clavier peuvent être modifiés pour chaque application. Orca crée un objet script pour chaque application fonctionnant sur le système et fusionne les comportements par défaut avec les raccourcis clavier et les paramètres spécifiques dédiés à cette application. Orca fournit l'infrastructure pour activer et désactiver les scripts mais aussi un hôte des services accessible depuis les scripts.

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
paquet Robot OS opencv_apps –⋅applications
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Ce paquet fait partie de Robot OS (ROS). Il fournit plusieurs paquets de fonctionnalités OpenCV pour travailler de façon simple dans ROS, par exemple en lançant un fichier correspondant à la fonctionnalité.

Le paquet fournit des implémentations pour la détection d'arêtes, l'analyse de structure, la détection de personnes/visages, l'analyse de mouvement et la segmentation d'objets.

Ce paquet fournit les nœuds et les éléments de ROS pour 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-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 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
Interface d'applications Temps Réel (RTAI : Real Time Application Interface)
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RTAI est une extension temps réel du noyau Linux avec une grande variété de services qui facilitent la vie des programmeurs. Parmi ceux-ci :

Le choix entre les règles d'ordonnancement par file (FIFO, First In First Out) et par tourniquet (RR, Round-Robin) pour un système par tâches, des interfaces de programmation (API) POSIX étendues, les files de messages, les sémaphores en espaces noyau et utilisateur qui peuvent être typés compteur, binaire ou ressource et l'implantation de boîte aux lettres LXRT pour du temps réel dur en espace utilisateur.

Ceci est un méta-paquet qui dépend des dernières versions des paquets individuels de RTAI.

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
programmez votre Arduino depuis la ligne de commande
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Arduino est une plate-forme libre de prototypage électronique, basée sur du matériel et du logiciel flexibles et faciles d'utilisation. Elle est destinée aux artistes, concepteurs, passionnés et toutes personnes intéressées par la création d'objets ou d'environnements interactifs.

Ce paquet fournit un Makefile permettant la programmation en ligne de commande de la plate-forme Arduino.

Gnuplot
programme de tracé interactif en ligne de commande
Maintainer: Debian Science Team
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Gnuplot est un utilitaire de tracé de données et de fonctions en ligne de commande qui prend en charge de nombreux formats de sortie, dont les pilotes pour de nombreuses imprimantes, (La)Tex, (x)fig, Postscript, etc. La version X11 est empaquetée dans gnuplot-x11.

Les fichiers de données et les fonctions définies par l'utilisateur peuvent être manipulés avec le langage interne de gnuplot (type langage C). Gnuplot peut effectuer des lissages, des régressions linéaires ou non linéaires (par splines notamment) et peut travailler avec les nombres complexes.

Ce métapaquet permet d’installer gnuplot avec toutes ses possibilités (-qt, -x11 ou -nox).

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Libcoin-runtime
high-level 3D graphics kit - external data files
Maintainer: Debian Science Team
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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-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) 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.

Vtk7
Binaries for VTK7
Maintainer: Debian Science Team
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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 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.

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