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model-directory:start

RobMoSys Model Directory

A list of domain models, software components and systems for use with RobMoSys Tooling. Please see end of page for a legend.

Tier 2 Domain Models

Name Description Purpose Vendor Tooling Status
CommBasicObjects A collection of very basic service definitions and communication objects for use in almost every robotics system. Universal HSU SmartMDSD Toolchain v3 Ready
CommNavigationObjects A collection of domain models for wheeled robot navigation. Navigation HSU SmartMDSD Toolchain v3 Ready
CommRobotinoObjects A collection of domain models for use with the FESTO Robotino robot. Mobile-Base HSU SmartMDSD Toolchain v3 Ready
CommLocalizationObjects A collection of domain models for localization. Localization HSU SmartMDSD Toolchain v3 Ready
CommManipulationPlannerObjects A collection of domain models for (mobile) manipulation. Mobile Manipulation HSU SmartMDSD Toolchain v3 Ready
CommManipulatorObjects A collection of domain models for manipulators. Manipulation HSU SmartMDSD Toolchain v3 Ready
CommObjectRecognitionObjects A collection of domain models for object recognition. Object Recognition HSU SmartMDSD Toolchain v3 Ready
CommTrackingObjects A collection of domain models for tracking objects. Object Recognition HSU SmartMDSD Toolchain v3 Ready
DomainForklift A collection of domain models for accessing forklift manipulators. Actuator-Access HSU SmartMDSD Toolchain v3 Ready
DomainPTU A collection of domain models for accesing pan-tilt-devices. Actuator-Access HSU SmartMDSD Toolchain v3 Ready
DomainSpeech A collection of domain models for human-machine-interaction with speech. Speech-To-Text HSU SmartMDSD Toolchain v3 Ready
DomainSymbolicPlanner A collection of domain models for symbolic planning. Planner HSU SmartMDSD Toolchain v3 Ready
DomainVision A collection of domain models related to vision. Actuator-Access HSU SmartMDSD Toolchain v3 Ready

Tier 3 Component Models

Name Description Purpose Vendor Tooling Status Figure
SmartCdlServer Implements the Curvature Distance Lookup (CDL) algorithm for fast local obstacle avoidance. It considers the dynamics and kinematics of the robot, as well as its polygonal shape. Navigation HSU SmartMDSD Toolchain v3 Ready github.com_servicerobotics-ulm_componentrepository_raw_master_smartcdlserver_model_smartcdlservercomponentdefinition.jpg
ComponentLaserObstacleAvoid The SmartLaserObstacleAvoid component implements a simple reactive obstacle avoidance. Navigation HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_componentlaserobstacleavoid_model_componentlaserobstacleavoidcomponentdefinition.jpg
ComponentPlayerStageSimulator The SmartPlayerStageSimulator simulates a robot in a 2D bitmapped environment using Player/Stage. It offers several services for controlling the robot, such as sending navigation commands, providing access to the robot's odometry and laser scans. Simulation HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_componentplayerstagesimulator_model_componentplayerstagesimulatorcomponentdefinition.jpg
ComponentSymbolicPlanner Provides a symbolic planner service. Works with ff, metric-ff (suggested) and lama. Planner HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_componentsymbolicplanner_model_componentsymbolicplannercomponentdefinition.jpg
ComponentTTS SmartTTS is a component for text to speech (tts) synthesis. SmartTTS pipes speech output messages to stdin of an arbitrary executable. It is thus a simple wrapper for all tts applications that accept text via stdin, e.g. mbrola, festival or /bin/cat for debugging. Text-To-Speech HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_componenttts_model_componentttscomponentdefinition.jpg
SmartAmcl SmartAmcl implements the Adaptive Monte-Carlo Localization (Amcl) algorithm. Localization is based on a particle filter and a pre-captured grid map of the environment. Localization HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartamcl_model_smartamclcomponentdefinition.jpg
SmartCdlServer The SmartCdlServer is based on the Curvature Distance Lookup (CDL) algorithm for fast local obstacle avoidance. Navigation HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartcdlserver_model_smartcdlservercomponentdefinition.jpg
SmartGMapping SmartGMapping implements GMapping for simultaneous localization and mapping (SLAM). Mapping HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartgmapping_model_smartgmappingcomponentdefinition.jpg
SmartGazeboBaseServer The SmartGazeboBaseServer can be used to command a robot in a 3D environment using the Gazebo simulator. Simulator HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartgazebobaseserver_model_smartgazebobaseservercomponentdefinition.jpg
SmartJoystickNavigation The SmartJoystickNavigation component takes joystick input commands (CommJoystick) and translates them to v/omega navigation commands (CommNavigationVelocity). Navigation HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartjoysticknavigation_model_smartjoysticknavigationcomponentdefinition.jpg
SmartJoystickServer The SmartJoystickServer provides access to input commands from a joystick via PushNewest communication pattern. The input commands are represented by x/y-value (as available) and an identifier for the button pressed. Sensor-Access HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartjoystickserver_model_smartjoystickservercomponentdefinition.jpg
SmartLaserLMS200Server The SmartLaserLMS200Server makes laser scans from SICK LMS 200 and PLS langer rangers available. Scans can be requested by push newest or query communication. Sensor-Access HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartlaserlms200server_model_smartlaserlms200servercomponentdefinition.jpg
SmartMapperGridMap The SmartMapperGridMap provides mapping services based on occupancy grid maps. Laser scans are taken for building a current and a longterm map. Mapping HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartmappergridmap_model_smartmappergridmapcomponentdefinition.jpg
SmartPioneerBaseServer The SmartPioneerBaseServer makes P2OS-based robot platforms available. It handles all the communication with the hardware. It offers several services for controlling the robot, such as sending navigation commands to the base and providing access to the robot's odometry. Planner HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartpioneerbaseserver_model_smartpioneerbaseservercomponentdefinition.jpg
SmartPlannerBreadthFirstSearch The SmartPlannerBreadthFirstSearch provides path planning services based on grid maps. It uses a grid map from a map building component (e.g. SmartMapperGridMap) and sends an intermediate waypoint as well as the goalpoint to the motion execution (e.g. SmartCdlServer). Planner HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartplannerbreadthfirstsearch_model_smartplannerbreadthfirstsearchcomponentdefinition.jpg
SmartRobotConsole A simple coordination component using a console menu to configure software component for several simple scenarios User Interaction HSU SmartMDSD Toolchain v3 Ready raw.githubusercontent.com_servicerobotics-ulm_componentrepository_master_smartrobotconsole_model_smartrobotconsolecomponentdefinition.jpg
Yarp_BaseStateService A mixed-port component that bridges between YARP and SmartSoft: This one is focussed on the BaseStateService for use with the R1 robot. Navigation CARVE SmartMDSD Toolchain v3 Ready -
Yarp_GridMap2D Component A mixed-port component that bridges between YARP and SmartSoft: This one is focussed on the GriMap Service for use with the R1 robot. Mapping CARVE SmartMDSD Toolchain v3 Ready -
Yarp_LaserService Component A mixed-port component that bridges between YARP and SmartSoft: This one is focussed on the Laser Service for use with the R1 robot. Sensor-Access CARVE SmartMDSD Toolchain v3 Ready -
Yarp_CommNavigationVelocity Component A mixed-port component that bridges between YARP and SmartSoft: This one is focussed on the NavigationVelocity Service for use with the R1 robot. Navigation CARVE SmartMDSD Toolchain v3 Ready -
ComponentRobotinoBaseServer The Robotino Base Server provides access to the robotino robot. It handles the communication with the hardware or the simulator. It offers several services for controlling the robot, such as sending navigation commands to the base and providing access to the robot's odometry. Position updates can be sent to the component to overcome odometry failures. Actuator-Access HSU SmartMDSD Toolchain v3 Ready wiki.openrobotino.org_images_8_85_smartrobotinobaseserver.jpg
ComponentLaserLMS1xx The ComponentLaserLMS1xx makes laser scans from SICK LMS 1xx series available. Sensor-Access HSU SmartMDSD Toolchain v3 Ready
SmartKinectV2Server The SmartKinectV2Server captures RGB, depth and range images from the Microsoft Kinect. Undistorted images can be requested by push or query communication. Sensor-Access HSU SmartMDSD Toolchain v3 InProgress
SmartObjectRecognition A component for object recognition. Object Recognition HSU SmartMDSD Toolchain v3 InProgress
ComponentOpenRave This component is based on the OpenRAVE framework. It allows to plan a trajectory to a given point with the specified manipulator. Manipulation HSU SmartMDSD Toolchain v3 InProgress
ComponentSkillInterface The ComponentSkillInterface provides an interface to call and execute skills as explained in Skills for Robotic Behavior. Robot Behavior HSU SmartMDSD Toolchain v3 InProgress
SmartRobotinoLaserServer The SmartRobotinoLaserServer provides laser scans from the robotino SIM simulator or other scanners operated by robotino deamons. Scans can be requested by push newest or query communication. Sensor-Access HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_4_46_smartrobotinolaserserver.jpg
SmartRobotinoIRServer The SmartRobotinoIRServer ir scans from the robotino platforms (and simulator). Sensor-Access HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_8_8a_smartrobotinoirserver.jpg
SmartRobotinoRPCBridge The martRobotinoRPCBridge component is the interface component between the the robotino rpcd and the SmartSoft components. It is used to transfer data between the two system parts, e.g. the map as it is recorded by the SLAM component. Mapping HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_8_8e_smartrobotinorpcbridge.jpg
SmartRobotinoImageServer The SmartRobotinoImageServer provides images captured by a robotino daemon or the simulator. Simulator HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_6_64_smartrobotinoimageserver.jpg
SmartFestoFleetCom The SmartFestoFleetCom is the interface component to the FESTO Fleet-Manager (MPS) Planner, Navigation HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_c_c5_smartfestofleetcom.jpg
SmartFestoGripperServer The SmartFestoGripperServer provides access to the FESTO gripper for Robotino3. Actuator-Access HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_c_cb_smartfestogripperserver.jpg
SmartFestoMPSDocking The SmartFestoMPSDocking performs the docking/undocking of a Robotino3, equipped with a conveyer belt, to a FESTO MPS station. Actuator-Access REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_b_b2_smartfestompsdocking.jpg
SmartMarkerTracker The SmartMarkerTracker is capable of detecting visual markers and docking to MPS stations equipped with visual markers. Object-Recognition REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_9_9a_smartmarkertracker.jpg
SmartNavigationPlanner The SmartNavigationPlanner uses ompl to perform planning for navigation. The component is used in the context of corridor based fleet navigation. Planner REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_0_01_smartnavigationplanner.jpg
SmartPurePursuitNavigation The SmartPurePursuitNavigation realizes a pure-pursuit navigation, calculating velocities to follow a trajectory. Navigation REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_d_d5_smartpurepursuitnavigation.jpg
SmartRobotinoBatteryChargerDocking The SmartRobotinoBatteryChargerDocking performs the docking/undocking of a Robotino3 to a battery charger station. Actuator-Access, Navigation REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_6_65_smartrobotinobatterychargerdocking.jpg
SmartRobotinoConveyerBeltServer The SmartRobotinoConveyerBeltServer provides access the robotino3 conveyer belt, used to transport KLTs (small load carrier). Actuator-Access HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_9_99_smartrobotinoconveyerbeltserver.jpg
SmartRobotinoMasterRPCBridge The component is the interface component between the the robotino rpcd and the SmartSoft components. It is used to transfer data between the two system parts, e.g. the map as it is recorded by the SLAM component. This component is among the set of fleet coordination components. Mapping HSU SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_b_bd_smartrobotinomasterrpcbridge.jpg
SmartPathNavigationServer The SmartPathNavigationServer is the coordinating component for corridor based local coordinated navigation with multiple robots in a fleet. Planner Navigation REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_9_9b_smartpathnavigationserver.jpg
SmartPathNavigationClient The SmartPathNavigationClient is client component for corridor based fleet navigation. Planner Navigation REC SmartMDSD Toolchain v2 Ready wiki.openrobotino.org_images_6_63_smartpathnavigationclient.jpg
Sequencer The Sequencer/SmartLispServer component is responsible for interpreting and executing the behavior models which are written in SmartTCL (Smart Task Coordination language). To execute the tasks, Sequencer orchestrates all the other components. Robot Behavior HSU SmartMDSD Toolchain v2 Ready -
SmartSimpleKB The SmartSimpleKB component represents the knowledge base of the robot system. System wide runtime information is saved in the knowledge base. It contains the current state of the robot as well as application related information like the location of shelves, properties of objects and grasping strategies. Robot Behavior HSU SmartMDSD Toolchain v2 Ready -
SmartBoxDetection The SmartBoxDetection component recognizes individual packaging boxes for partial commissioning processes. The required boxes are searched and recognized with the help of box dimensions and the defined storage area in the shelf. Subsequently, position and orientation of the recognized boxes are provided through the service. Object Recognition ZAFH Intralogistik SmartMDSD Toolchain v2 Ready
SmartRackDetection The SmartRackDetection component recognizes the position and orientation of a shelf in which objects are arranged in an organized manner (A-Frame). Based on the pose of the shelf, the component calculates the position of the individual objects and provides this information through the service. Object Recognition ZAFH Intralogistik SmartMDSD Toolchain v2 Ready
SmartRealSensePersonTracker The SmartRealSensePersonTracker component runs a person recognition algorithm on a RGBD data stream. The component can be configured to recognize one specific person in the image and calculate its position relative to the robot. This position can be used by the robot to follow this person. Object Tracking ZAFH Intralogistik SmartMDSD Toolchain v2 Ready
SmartKinectV2Server The SmartKinectV2Server component abstracts the accesses to color and depth data that was recorded by a Kinect (Xbox one) camera. For recognizing objects the component provides RGBD streams as well individual color or depth images. Sensor-Access ZAFH Intralogistik SmartMDSD Toolchain v2 Ready
SmartRealSenseV2Server The SmartRealSenseV2Server component abstracts the accesses to color and depth data that was recorded by a RealSense (D435) camera. For recognizing objects the component provides RGBD streams as well individual color or depth images. Sensor-Access ZAFH Intralogistik SmartMDSD Toolchain v2 Ready
SmartURServer SmartURServer component abstracts the accesses to a UR5 robot arm by encapsulating the communication with the hardware and making it easily accessible through services. Actuator-Access HSU SmartMDSD Toolchain v3 InProgress
SmartSchunkGripperServer The SmartSchunkGripperServer component abstracts the accesses to a gripper from Schunk by encapsulating the communication with the hardware and making it easily accessible through services. Actuator-Access HSU SmartMDSD Toolchain v2 Ready

Tier 3 Systems

Name Description Purpose Vendor Tooling Status Figure
SystemTiagoNavigation A pilot skeleton that covers the navigation aspect of the Intralogistics Industry 4.0 Robot Fleet Pilot and Assistive Mobile Manipulation Pilot. This system covers the TIAGo Robot in simulation/Gazebo. Navigation HSU SmartMDSD Toolchain v3 Ready github.com_servicerobotics-ulm_systemrepository_raw_master_systemtiagonavigation_model_systemtiagonavigationsystemarchitecture.jpg
SystemP3dxNavigationRealWorld A pilot skeleton that covers the navigation aspect of the Intralogistics Industry 4.0 Robot Fleet Pilot and Assistive Mobile Manipulation Pilot. This system covers the Pioneer P3dx Robot in a real world setting. Navigation HSU SmartMDSD Toolchain v3 Ready -
SystemP3dxNavigationPlayerStageSimulator -A pilot skeleton that covers the navigation aspect of the Intralogistics Industry 4.0 Robot Fleet Pilot and Assistive Mobile Manipulation Pilot. This system covers the Pioneer P3dx Robot in simulation with Player/Stage Navigation HSU SmartMDSD Toolchain v3 Ready -
SystemLaserObstacleAvoidP3dxPlayerStageSimulator A system used in the tutorials. It uses a primitive obstacle avoidance component. This system is for use with the Pioneer P3DX robot. Example HSU SmartMDSD Toolchain v3 Ready -
SystemLaserObstacleAvoidTiagoGazeboSimulator A system used in the tutorials. It uses a primitive obstacle avoidance component. This system is for use with the Pioneer P3DX robot in the player stage simulator. Example HSU SmartMDSD Toolchain v3 Ready -
SystemTTS An example that illustrates the use of text to speech components. Speech-To-Text HSU SmartMDSD Toolchain v3 Ready -

Explanation/Legend

Status Descriptions

Ready This model can be used for immediate composition with other models
InProgress This model is currently being worked on. This can be ongoing work such as implementation or migration from earlier tooling versions (as e.g. with the SmartMDSD Toolchain v2)
Planned This model is scheduled and it will soon be worked on and going to be available.

Vendor Index

Short Vendor Name Website
HSU Ulm University of Applied Sciences, Service Robotics Research Center http://www.servicerobotik-ulm.de
CARVE RobMoSys Integrated Technical Project “CARVE” https://robmosys.eu/carve/
REC Robotics Equipment Corporation GmbH http://servicerobotics.eu
ZAFH Intralogistik ZAFH Intralogistik - Kollaborative Systeme zur Flexibilisierung der Intralogistik http://zafh-intralogistik.de

Tooling

SmartMDSD Toolchain v3 Models tagged with “SmartMDSD Toolchain v3” are fully RobMoSys conformant and available for immediate composition.
SmartMDSD Toolchain v2 Models tagged with “SmartMDSD Toolchain v2” are sufficiently conformant to RobMoSys and available for immediate composition with the SmartMDSD Toolchainv 2. These components are under migration to full RobMoSys conformance and use in v3.
model-directory:start · Last modified: 2019/05/20 10:47
http://www.robmosys.eu/wiki/model-directory:start