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xm_2019

xm_2d_nav

This package used for configuring 2d navigations.

xm_ar_tags

This package used for recognizing two-dimensional code to correct gripper's position.

xm_arm_manipulation

This metapackage implements the first generation of our xmbot's arm manipulation, it can simply pick some objects of different height on the shelf and put them in the specified position.

xm_arm_packages

晓萌新一代机械臂的ik

xm_arm_server

use for arm IK and pick

xm_base_server

xm_base_translation

This package used for controling the xmbot's base to translate.

xm_bringup

This package used for bring up xmbot's some important configures.

xm_camera_tf

This package used for controling the steering platformat of our robot's asus xtion pro live camera.

xm_control

This package used for loading the xmbot's joint_position, joint_trajectory, joint_state controllers.

xm_controllers

some ros controllers use for xm-robot

xm_description

This package used for describing our xmbot in the rviz or gazebo.

xm_developer_guide

This developer's guide is that our team summarized in the process of developing the xmbot project. It includes C++/Python coding style guide, GitHub management guide, and ROS developer guide(such as package, CMakelists, msg, srv, aciton, etc).

xm_dynamixels

This package used for controling xmbot's head and arm by using dynamixesl servos.

xm_enter_door

This package used for judging door is open or close by using laser's data when xmbot prepares to enter door.

xm_face_expression

This package used for performing xmbot's face expressions.

xm_face_recognition

This package used for face detection and recognition in windows.

xm_gazebo

This package used for simulating the trajectory planning of xmbot's base or arm in gazebo environment.

xm_hw

A ros node to communicate between ROS and STM32F4

xm_leg_detector

This package used for finding leg-like patterns.

xm_moveit

This package used for implementing the motion planning algorithms of xmbot's arm by using moveit package.

xm_msgs

This package used for realizing the communication's interface between ros's programs.

xm_object_cui

This package used for recognizing objects and storing the result of identification in pdf file.

xm_object_recognition

This package used for object detection and recognition.

xm_omni_triangle_controller

This package used for controling xmbot's omni_triangle drive mobile base.

xm_open_ptrack

This package is inheritedused from open_ptrack project and we edit some codes to achieve people's detection and robot's follow test.

xm_people

With this wrapper,we can run skelon detection ,hand tracking ,visiual slam ,object recognition and face recognition at the same time

xm_ros_workspace

some packages modified by me

xm_serialnode

This package used for building a message's bridge between the ros node and hardware by using serial communication.