(all our software can be found at http://personalrobotics.ri.cmu.edu/software.php)
Open Wam Driver (OWD): http://personalrobotics.ri.cmu.edu/pr-ros-pkg/owd/html/index.html
Driver for controlling a Barrett WAM and Barrett Hand from ROS
A real-time Object Recognition and Pose Estimation system for camera-based perception of known objects.
Constrained Manipulation Planning Suite (CoMPS), used for planning manipulation motions for robots.
Arm Map-Based Hierarchical Planner (ArmMBHP), an alternate planner for manipulation.
A planner that takes advantage of object-robot and object-object collisions during manipulation.
Software includes The Constrained Manipulation Suite (CoMPS) for motion planning with constraints and LightningROS, a ROS package implementing the Lightning Path Planning Framework. Lightning uses a path library to store previous experience while allowing generality by also planning from scratch.
This source package contains an implementation of Multi-Resolution Surfel Maps for image registration, object modelling and tracking, and SLAM.
The approach is documented in the papers:
Jörg Stückler and Sven Behnke:
Model Learning and Real-Time Tracking using Multi-Resolution Surfel Maps
In Proc. of the AAAI Conference on Artificial Intelligence (AAAI-12), Toronto, Canada, July 2012.
http://www.ais.uni-bonn.de/papers/aaai12_stueckler_behnke.pdf
Jörg Stückler and Sven Behnke:
Integrating Depth and Color Cues for Dense Multi-Resolution Scene Mapping Using RGB-D Cameras.
In Proceedings of the IEEE International Conference on Multisensor Fusion and Information Integration (MFI), Hamburg, Germany, September 2012.
http://www.ais.uni-bonn.de/papers/MFI_2012_SLAM.pdf
The RBO interactive perception project (RBO-IAP) is concerned with the detection and interactive exploration of kinematic objects, i.e. objects with degrees of freedom.