Debian Science Project
Summary
Robotics
pacchetti Debian per la robotica

Questo metapacchetto è parte del Debian Pure Blend "Debian Science" e installa i pacchetti relativi alla robotica.

Chi installa questo pacchetto potrebbe essere interessato al metapacchetto 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
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
Choreonoid
ambiente GUI robotico integrato
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Choreonoid è un ambiente GUI robotico integrato che permette di aggiungere le proprie funzioni a partire da varie funzioni robotiche di base.

The package is enhanced by the following packages: choreonoid-plugins-base
Gazebo9
simulatore per robotica open source - binari
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Gazebo è un simulatore multi-robot per ambienti all'aria aperta. Come Stage (parte del progetto Player) è in grado di simulare una popolazione di robot, sensori e oggetti, ma lo fa in un mondo tridimensionale. Genera sia un ritorno realistico dei sensori sia interazioni fisicamente plausibili tra gli oggetti (include una simulazione accurata della fisica dei corpi rigidi).

Questo pacchetto contiene i binari principali dell'applicazione.

The package is enhanced by the following packages: gazebo9-plugin-base
Liburdfdom-tools
DOM URDF - strumenti
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La libreria URDF (U-Robot Description Format) fornisce strutture dati fondamentali e semplici analizzatori di XML per popolare le strutture dati di una classe da un file URDF.

Questo pacchetto contiene strumenti aggiuntivi.

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
strumenti per mappatura a griglia di occupazione 3D
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La libreria OctoMap implementa un approccio di mappatura a griglia di occupazione 3D, fornendo strutture dati e algoritmi di mappatura in C++ particolarmente adatti per la robotica. L'implementazione della mappa è basata su un octree ed è progettata per raggiungere i seguenti risultati: modello 3D completo, aggiornabile, flessibile e compatto. Questo pacchetto contiene gli strumenti da usare con la libreria Octomap.

Octovis
strumento di visualizzazione per OctoMap
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Libreria di visualizzazione per la libreria OctoMap basata su Qt e libQGLViewer. Questo pacchetto contiene lo strumento di visualizzazione. È un visualizzatore che permette di vedere una OctoMap.

Orca
lettore di schermo con scripting
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Tecnologia di assistenza flessibile, estensibile e potente che fornisce agli utenti finali l'accesso alle applicazioni e insiemi di strumenti che supportano le AT-SPI (ad esempio, il desktop GNOME).

Orca definisce un insieme predefinito di comportamenti (reazioni ad eventi generati dalle applicazioni) e associazioni di tasti (reazioni a pressioni di tasti da parte dell'utente). Questi comportamenti e associazioni di tasti predefiniti possono essere sovrascritti in modo diverso per ogni applicazione. Orca crea un oggetto script per ogni applicazione in esecuzione, che fonde i comportamenti e le associazioni di tasti predefiniti con quelli specifici per l'applicazione. Orca fornisce l'infrastruttura per attivare e disattivare gli script ed anche una moltitudine di servizi accessibili dall'interno degli script.

Robot-player
server di rete per robot e sensori
Maintainer: Michael Janssen
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Fornisce un'interfaccia di rete ad una molteplicità di hardware per robot e sensori. Il modello client/server di Player permette ai programmi di controllo del robot di essere scritti in qualsiasi linguaggio di programmazione e di essere eseguiti su ogni computer con una connessione di rete al robot. Player gestisce più connessioni client concorrenti ai dispositivi, creando nuove possibilità per rilevamento e controllo distribuito e collaborativo.

Player gestisce una vasta gamma di robot mobili e accessori.

Ros-desktop
metapacchetto per desktop per Robot OS
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Questo pacchetto fa parte di Robot OS. È un metapacchetto che fornisce il sistema desktop ROS (inclusi ROS robot e viz).

A differenza della versione degli autori originali, questo pacchetto non fornisce: common_tutorials, geometry_tutorials, ros_tutorials, roslint, urdf_tutorial, visualization_tutorials. Se sono necessari, installarli dai sorgenti.

Ros-desktop-full
metapacchetto desktop-full di Robot OS
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Questo pacchetto fa parte di Robot OS (ROS). È un metapacchetto che fornisce il sistema desktop-full di ROS.

Ros-opencv-apps
pacchetto opencv_apps di Robot OS - applicazioni
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Questo pacchetto fa parte di Robot OS (ROS). Contiene svariati pacchetti ROS per lavorare fornendo funzionalità OpenCV in ROS nella maniera più semplice possibile, cioè eseguire un file di avvio che corrisponde alla funzionalità.

Il pacchetto contiene implementazioni per rilevamento dei bordi, analisi strutturale, rilevamento di persone/volti, analisi di movimento e segmentazione di oggetti.

Questo pacchetto contiene i nodi e il materiale per ROS di opencv-apps.

Ros-perception
metapacchetto Python perception di Robot OS
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Questo pacchetto fa parte di Robot OS (ROS). È un metapacchetto che fornisce tutto il sistema perception di ROS (inclusa la base di ROS).

A differenza della versione originale questo pacchetto non fornisce: image_pipeline, image_transport_plugins, laser_assembler, laser_filters, laser_geometry, perception_pcl. Se sono necessari, installarli dai sorgenti.

Ros-robot
metapacchetto Python robot di Robot OS
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Questo pacchetto fa parte di Robot OS (ROS). È un metapacchetto che fornisce tutto il sistema robot di ROS (inclusa la base di ROS).

A differenza della versione originale, questo pacchetto non fornisce: control_msgs, diagnostics, executive_smach, filters, robot_state_publisher, xacro. Se sono necessari, installarli dai sorgenti.

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
metapacchetto di simulatori Python di Robot OS
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Questo pacchetto fa parte di Robot OS (ROS). È un metapacchetto che fornisce tutto il sistema per robot ROS (incluso robot di ROS).

A differenza della versione originale, questo pacchetto non fornisce: rqt_common_plugins, rqt_robot_plugins, stage_ros. Se sono necessari installarli dai sorgenti.

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
programmazione di Arduino dalla riga di comando
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Arduino è una piattaforma Open Source di prototipazione elettronica basata su software e hardware flessibili e di semplice utilizzo. È pensata per artisti, designer, hobbisti e per chiunque sia interessato a creare oggetti * ambienti interattivi.

Questo pacchetto installa un Makefile per permettere la programmazione da CLI della piattaforma Arduino.

Gnuplot
programma a riga di comando interattivo per tracciare grafici
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Gnuplot è una utilità portabile da riga di comando per tracciare interattivamente grafici a partire da dati e funzioni che supporta differenti formati di uscita, includendo driver per molte stampanti, (La)TeX, (x)fig, PostScript e altri. L'output per X11 è fornito dal pacchetto gnuplot-x11.

I file di dati e le funzioni auto-definite possono essere manipolati attraverso un linguaggio interno simile al C. È in grado di effettuare smussamenti, interpolazioni di spline o interpolazioni non lineari. È in grado di lavorare con numeri complessi.

Questo metapacchetto serve per installare un gnuplot completo di funzionalità (-qt, -x11 o -nox).

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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
linguaggio GNU Octave per il calcolo numerico
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Octave è un linguaggio di alto livello (per la maggior parte compatibile con Matlab®) orientato principalmente al calcolo numerico. Fornisce una comoda interfaccia a riga di comando per risolvere numericamente problemi lineari e non.

Octave può essere esteso dinamicamente con file C++ forniti dall'utente.

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
esempi dimostrativi per la libreria OMPL (Open Motion Planning Library)
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La libreria Open Motion Planning Library è un insieme di algoritmi di pianificazione dei movimenti basati sul campionamento. Il contenuto della libreria è limitato a questi algoritmi, il che significa che non c'è specificazione dell'ambiente o rilevamento delle collisioni o visualizzazione. La libreria è progettata in modo da poter essere facilmente integrata in sistemi che forniscono i componenti necessari aggiuntivi. Questo pacchetto contiene un insieme di esempi dimostrativi per la libreria.

Vtk7
binari per VTK7
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Il Visualization Toolkit (VTK) è un sistema software open source per la computer grafica 3D, l'elaborazione e la visualizzazione di immagini.

Questo pacchetto fornisce binari per 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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