youBot ROS Navigation Stack

This software includes a ROS navigation stack adapted for the KUKA youBot. It provides local navigation and obstacle avoidance functionalities based on the laser scanner readings. Here you find step-by-step instructions on how to get this ROS stack running on the youBot.

Tower of Hanoi Perception

The Tower of Hanoi perception library provides support for object detection in context of the "Tower of Hanoi" contest taking place during the European Robotics Week in December 2011. This library consists of a set of ROS nodes that allow to detect colored cubes as well as markers based on the ARToolKit.

youBot ROS Inverse Kinematics

This software includes a ROS inverse kinematics stack adapted for the KUKA youBot. It provides a closed form IK, which only calculates the end configuration of the joints based on the actual position of the arm. The idea is based on the inverse kinematics of the Yasukawa Motoman L-3 from Craigs book.  The input data is a 6D-Pose consisting of the x-y-z coordinates and the roll-pitch-yaw orientation of the gripper. Here you find step-by-step instructions on how to get this ROS stack running on the youBot.