卡门机器人公司
我和 Carmen http://carmen.sourceforge.net/ 合作已经有一段时间了，我真的很喜欢这个软件，但我需要对源代码进行一些更改。
因此，我对与卡门合作的一些学生报告/项目或任何源代码文档感兴趣。
我一直在阅读卡门网页上的文档，但无论如何，我认为那里的文献有点过时和不足。
I have been working with Carmen http://carmen.sourceforge.net/ for a while now, and I really like the software but I need to make some changes inside the source code.
I am therefore interesting in some students reports/projects there have been working with Carmen, or any documentation of the source code.
I have been reading the documentation on the webpage for Carmen, but with all respect I think the literature there is a bit outdated and insufficient.
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ROS 是机器人领域新的热门导航工具包。它拥有专业的开发团队和非常活跃的社区。文档还不错，但这是我见过的最好的机器人操作系统。
有很多学生项目团队正在使用它。
请访问 www.ros.org 查看，
我将更具体地说明为什么 ROS 很棒...
内置可视化器/模拟器 rviz
- 它有一个记录功能，可以记录从节点传出的所有消息，这允许您将大量原始数据存储在“ros bag”中，然后在需要测试 AI 时回放，但想坐在你的床上。
内置导航功能，
您所要做的就是为传感器编写数据发布者。
- 它具有您需要填写的标准消息，以便堆栈有足够的信息。
有一个扩展卡尔曼滤波器非常棒，因为我不想写一个。目前正在实施它，我会让你知道结果如何。
它还具有内置的消息级别，我的意思是您可以更改在运行时打印的打印消息的严重性，这对于调试来说相当方便。
有一个机器人监控节点，您可以将传感器的状态发布到其中，并将所有这些信息捆绑到 GUI 中，以便您观看。
已经编写了一些基本驱动程序。例如，SICK 激光雷达开箱即受支持。
还有一个内置的变换函数，可以帮助您将所有内容移动到正确的坐标系。
ROS 被设计为可以在多台计算机上运行，但也只能在一台计算机上运行。
数据传输通过 TCP 端口进行处理。
我希望这更有帮助。
ROS is the new hot navigation toolkit for robotics. It has a professional development group and a very active community. The documentation is okay, but it's the best I've seen for robotic operating systems.
There are a lot of student project teams that are using it.
Check it out at www.ros.org
I'll be more specific on why ROS is awesome...
Built in visualizer/simulator rviz
- It has a record function which will record all of the messages passed out of nodes, this allows you take in a lot of raw data store it in a "ros bag" and then play it back later when you need to test your AI, but want to sit in your bed.
Built in navigation capabilities,
-all you have to do is write the publishers of data for your sensors.
-It has standard messages that you need to fill out so that the stack has enough information.
There is an Extended Kalman Filter which is pretty awesome because I didn't want to write one. Currently implementing it, i'll let you know how that turns out.
It also has built in message levels, by that I mean you can change which severity of print messages are printed during runtime, fairly handy for debugging.
There's a robot monitor node that you can publish the status of your sensors to and it bundles all of that information into a GUI for your viewing pleasure.
There are some basic drivers already written. For example SICK lidars are supported right out of the box.
There is also a built in transform function, to help you move everything to the right coordinate system.
ROS was made to run across multiple computers, but can work on just one.
Data transfer is handled over TCP ports.
I hope that's more helpful.