ROS package category（for Service Robot）
ROS中关于移动机器人定位、导航、规划等调研
机器人定位
1. Description: amcl is a probabilistic localization system for a robot moving in 2D. It implements the adaptive (or KLD-sampling) Monte Carlo localization approach (as described by Dieter Fox), which uses a particle filter to track the pose of a robot against a known map.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=amcl
2. Description: The robot_localization package provides nonlinear state estimation through sensor fusion of an abritrary number of sensors
Web: http://www.ros.org/browse/details.php?distro=hydro&name=robot_localization
3. Description: This is the ROS wrapper for libviso2, library for visual odometry (see package libviso2)
Web: http://www.ros.org/browse/details.php?distro=hydro&name=viso2_ros
4. Description: A ROS node that simply forwards odometry information
Web: http://wiki.ros.org/fake_localization
机器人导航：
1. Description: This package provides a recovery behavior for the navigation stack that attempts to clear space by reverting the costmaps used by the navigation stack to the static map outside of a given area.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=clear_costmap_recovery
2. Description: This stack contains packages that permit collision-free arm navigation.
Web: http://wiki.ros.org/arm_navigation
3. Description: The Office Marathon: Robust Navigation in an Indoor Office Environment（contain paper）
Web: http://wiki.ros.org/Papers/ICRA2010_Marder-Eppstein?highlight=%28PublicationCategory%29
4. Description: Navigation in Hybrid Metric-Topological Maps（contain paper）
5. Description: Cart Pushing with a Mobile Manipulation System: Towards Navigation with Moveable Objects（contain paper）
6. Description: Navigation in Three-Dimensional Cluttered Environments for Mobile Manipulation（contain paper）
7. Description: ROS Navigation Tutorial
Web: http://www.openrobots.org/morse/doc/latest/user/advanced_tutorials/ros_tutorial.html
机器人路径规划：
1. Description: A path planner library and node.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=global_planner
2. Description: OMPL is a free sampling-based motion planning library..
Web: http://www.ros.org/browse/details.php?distro=hydro&name=ompl
3. Description: Combined Task and Motion Planning for Mobile Manipulation（contain paper）
Web: http://wiki.ros.org/Papers/ICAPS2010_Wolfe?highlight=%28PublicationCategory%29
4. Description: Stochastic Trajectory Optimization for Motion Planning（contain paper）
Web: http://wiki.ros.org/Papers/ICRA2011_Kalakrishnan?highlight=%28PublicationCategory%29
机器人构建地图：
1. Description: Package for creating a geometric map of the environment.
Web:http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_mapping_geometry_map
2. Description: Package for creating a point map of the environment.
Web:http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_mapping_point_map
3. Description: Laser Odometry and Mapping (back and forth spin version).
Web: http://www.ros.org/browse/details.php?distro=hydro&name=loam_back_and_forth
4. Description: Laser Odometry and Mapping (continuous spin version)
Web: http://www.ros.org/browse/details.php?distro=hydro&name=loam_continuous
5. Description: The OctoMap library implements a 3D occupancy grid mapping approach, providing data structures and mapping algorithms in C++. The map implementation is based on an octree
Web: http://www.ros.org/browse/details.php?distro=hydro&name=octomap
机器视觉：
1. Description: OpenCV.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=opencv2
2. Description: Node for the Color Machine Vision Project, used for fast color blob detection.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cmvision
3. Description: The pal_vision_segmentation package provides segmentation nodes based on various techniques. Masked image or mask is provided, and can be tuned via dynamic_reconfigure.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=pal_vision_segmentation
4. Description: This stack contains tools for computer vision tasks.
Web: http://wiki.ros.org/ccny_vision
机器人3D环境感知：
1. Description: Common classes and nodes for 3D environment perception.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_mapping_common
2. Description: Filters for point clouds.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_mapping_filters
3. Description: Extraction of semantic data (e.g. table extraction) from 3-D environment maps.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_mapping_semantics
4. Description: The cob_3d_segmentation package provides a configurable node for point cloud segmentation. Input data is supposed to come from 3-D cameras like Microsoft Kinect.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_3d_segmentation
5. Description: This package can segment object clusters on top of a table plane..
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_table_object_cluster
6. Description: Provides a service to detect if a door is open. If this is the case, it returns the position of the middle of the door. Otherwise it returns position 0
Web: http://www.ros.org/browse/details.php?distro=hydro&name=open_door_detector
7. Description: The Point Cloud Library (or PCL) for point cloud processing - development The PCL framework contains numerous state-of-the art algorithms including filtering, feature estimation, surface reconstruction, registration, model fitting and segmentation.（非常有名的激光处理库，很强大）
Web: http://www.ros.org/browse/details.php?distro=hydro&name=pcl
8. Description: Laser-based Perception for Door and Handle Identification（contain paper）
Web: http://wiki.ros.org/Papers/ICAR2009_Rusu?highlight=%28PublicationCategory%29
机器人避障：
1. Description: FCL is an open source project that includes various techniques for efficient collision detection and proximity computation.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=fcl
2. Description: The operator is a lightweight, purely reactive obstacle-avoidance module for mobile robots moving in a planar environment. The operator node works by evaluating a set of predefined motion primitives based on a local costmap and a desired direction. The best evaluated motion command will be send to the mobile base
Web: http://www.ros.org/browse/details.php?distro=hydro&name=nav2d_operator
3. Description: Obstacle detection for 3D point clouds using a height map algorithm.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=velodyne_height_map
机器人运动控制：
1. Description: A set of packages that include controller interfaces, controller managers, transmissions, hardware_interfaces and the control_toolbox.
Web: http://wiki.ros.org/ros_control
2. Description: This package provides a trajectory controller which controlls velocities for a chain of joints.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cob_trajectory_controller
3. Description: A common interface definition for lower level control routines.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=cram_process_modules
4. Description: Generic Mechanism Controller Library
Web: http://www.ros.org/browse/details.php?distro=hydro&name=robot_mechanism_controllers
5. Description: velocity_controllers
Web: http://www.ros.org/browse/details.php?distro=hydro&name=velocity_controllers
6. Description: ViSP, standing for Visual Servoing Platform, is unique. This software is a complete cross-platform solution that allows prototyping and developing applications in visual tracking and visual servoing. ViSP can be useful in robotics, computer vision, augmented reality and computer animation.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=visp
7. Description: MoveIt! is state of the art software for mobile manipulation, incorporating the latest advances in motion planning, manipulation, 3D perception, kinematics, control and navigation. It provides an easy-to-use platform for developing advanced robotics applications, evaluating new robot designs and building integrated robotics products for industrial, commercial, R&D and other domains.
机器人运动学参数估计：
1. Description: Runs an optimization to estimate the a robot's kinematic parameters.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=calibration_estimation
2. Description: The Robot Pose EKF package is used to estimate the 3D pose of a robot, based on (partial) pose measurements coming from different sources. It uses an extended Kalman filter with a 6D model (3D position and 3D orientation) to combine measurements from wheel odometry, IMU sensor and visual odometry. The basic idea is to offer loosely coupled integration with different sensors, where sensor signals are received as ROS messages.
Web: http://www.ros.org/browse/details.php?distro=hydro&name=robot_pose_ekf
NOTE: 上述资料来自于ROS主页中的以下链接。由于很多Package的描述不是很规范，因此很有可能查找中会有疏漏的地方，请见谅。
http://wiki.ros.org/Papers（列出了ROS中源码依照的论文）
http://www.ros.org/browse/list.php（ROS中所有的Package（软件包）均来自此处，如有需要查找请到此处浏览或搜索）
NOTE：ROS的主页如下所示：
