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Gnss plugin

A structure for generic and extendable, keyframe-based localization and mapping algorithms

IRI-ROS module for the simple TIAGo gripper, including a sample client and a Behavior tree layer.

Proposal for a basic structure for IRI behavior tree clients.

Set of communication libraries, including simple RS232, CAN, sockets (both in server and client modes) and others.

Set of libraries to be used in any ROS node. At the moment it includes classes to handle timeouts and watchdogs in an easy way.