Packages

The package diagram of the packages in the rocs stack is available here.

The computation graph for the nodes in packages in the rocs stack is available here.

The following packages are included into the rocs stack:

• rocs_lib
  Provides the ROCS library and makes it available to all other packages.
• rocs_msgs
  Messages specific to the rocs stack.
• rocs_systems
  Complete robotic systems performing semantic mapping.
• rocs_metric_mapping
  Launch files invoking external metric SLAM and tools for processing metric maps.
• rocs_door_detection
  Door detection components.
• rocs_exploration
  Exploration and goal-directed exploration components.
• rocs_place_categorization
  Multi-modal place categorization.
• rocs_place_models
  Models used by the rocs_place_categorization package.
• rocs_object_detection
  Object detection components and launch files for external object detection components.
• rocs_object_models
  Object models used by rocs_object_detection
• rocs_cloud_object_detection
  Object detection using a cloud service.
• rocs_simulation
  Provides launch files for running the system in simulation using various worlds and robots.
• rocs_teleop
  Provides teleoperation using joysticks or keyboard.
• rocs_conceptual_mapping
  Builds the graph of the conceptual map, runs inference, and serves resulting probabilities. Collects information from multiple sources and performs graph segmentation.
  • Node: rocs_conceptual_mapper
• rocs_topological_mapping
  Builds a topological graph consisting of connected places. The graph is not segmented.
  • Node: rocs_topological_graph_builder
    Builds a topological graph on top of a metric map. Includes placeholders.
• rocs_default_knowledge
  Serves the default knowledge to the conceptual map. If the default knowledge is changed, can notify the conceptual graph.
  • Node: rocs_default_knowledge_server
• rocs_test
  Provides provisional launch files for running the system in simulation or in the robot.

The documentation should be auto-generated here!