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Proposal for a basic structure for IRI behavior tree clients.

IRI Threads, mutex, events, exceptions, logs and time libraries

IRI C++ Dynamixel Motor Control Library

Low level driver for the BNO055 IMU unit from Bosch

IRI C++ Dynamixel Bus Communication Library

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

IRI C++ Multiple joint trajectory library

Set of scripts to easily generate driver and algorithm packages in ROS, and also a set of scripts to add publishers, subscribers, service clients an servers and action clients and servers to an exiting package.

Gnss plugin

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

Publishes a tf transform which can dynamically be changed using parameters (rqt_reconfigure).

Library with useful tools for autonomous navigation of car-like robots.

Global planner for the move_base framework using the opendrive road description to generate global paths.

Filters Twist messages using LaserScan message information, not allowing to run into obstacles.

Simple local planner for an ackermann platform architecture.

Generic ROS navigation related launch and configuration files

Set of launch files to run and configure the Helena robot.