Humanoid Navigation

ROS Packages for Humanoid Navigation

Version	Kinetic + Ubuntu Xenial	Melodic + Ubuntu Bionic
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Wiki for humanoid_navigation Packages

• http://wiki.ros.org/humanoid_navigation (metapackage)
• http://wiki.ros.org/footstep_planner
• http://wiki.ros.org/gridmap_2d
• http://wiki.ros.org/humanoid_localization
• http://wiki.ros.org/humanoid_planner_2d

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
  

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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.

• Original Source Code by Armin Hornung (Electric ~ Hydro Version)
  • Repository: https://github.com/ahornung/humanoid_navigation
• Source code for maintenance on ROS Indigo Version (by Pramuditha Aravinda)
  • Repository: https://github.com/AravindaDP/humanoid_navigation
  • Issue related: ahornung#14
• Source code for maintenance on ROS Kinetic Version (by Pyo)
  • Repository: https://github.com/ROBOTIS-GIT/humanoid_navigation
  • Issue related: AravindaDP#5