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Humanoid Navigation

ROS Packages for Humanoid Navigation

Version Kinetic + Ubuntu Xenial Melodic + Ubuntu Bionic
GitHub version Build Status -

Wiki for humanoid_navigation Packages

Documents related to humanoid_navigation Packages

  • humanoid_navigation: ROS metapackages with footstep planning and localization for humanoid / biped robots. This metapackge contains subpackages like footstep_planner, gridmap_2d, humanoid_localization, humanoid_planner_2d.
    • Author: Armin Hornung, Johannes Garimort, Stefan Osswald, Daniel Maier
    • License: GPLv3, BSD
  • footstep_planner: This package a footstep planner for humanoid / biped robots. The planner builds on SBPL and has anytime as well as dynamic replanning capabilities. The supported planners are: ARA*, AD*, R*.
    • Author: Johannes Garimort, Armin Hornung
    • License: GPLv3
  • gridmap_2d: This package is a simple 2D grid map structure, based on OpenCV's 'cv::Mat'.
    • Author: Armin Hornung
    • License: BSD
  • humanoid_localization: 6D localization for humanoid robots based on depth data (laser, point clouds). Two observation models are currently available based on OctoMap as 3D map: Ray casting and an end point model (lookup in the distance map).
    • Author: Armin Hornung, Stefan Osswald, Daniel Maier
    • License: GPLv3
  • humanoid_planner_2d: Thi package provides a simple 2D path planner as wrapper around SBPL (ARA*, AD*, R*).
    • Author: Armin Hornung
    • License: BSD
  • Papers related to these packages: 
    "Humanoid robot localization in complex indoor environments",
by A. Hornung, K. M. Wurm and M. Bennewitz,
2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, pp. 1690-1695.
doi: 10.1109/IROS.2010.5649751

    "Humanoid navigation with dynamic footstep plans",
by J. Garimort, A. Hornung and M. Bennewitz,
2011 IEEE International Conference on Robotics and Automation (ICRA), 2011, pp. 3982-3987.
doi: 10.1109/ICRA.2011.5979656

    "Anytime search-based footstep planning with suboptimality bounds", 
by A. Hornung, A. Dornbush, M. Likhachev and M. Bennewitz,
2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), 2012, pp. 674-679.
doi: 10.1109/HUMANOIDS.2012.6651592

Notice for Original Source Code and author, maintainer

These packages are a modified version by forking the following humanoid_navigation package by ROBOTIS. Please refer to the following links for original information.