software.tex

An overview of the software used by the Tech United Eindhoven @Home robots can be found in Table~\ref{tab:softwarespec}.
All our software is developed open-source at GitHub\footnote{\url{https://github.com/tue-robotics}}.
\\\newline
Currently, we have some \textit{image\_recognition} packages released into the current ROS Kinetic distribution and can be installed with use of \textit{apt}.

\begin{table}[H]
    \begin{center}
    \caption{Software overview of the robots.}
    \label{tab:softwarespec}
    %\vspace{-0.1cm}
    \renewcommand{\arraystretch}{1.0}
    \setlength{\tabcolsep}{5pt}
        \begin{tabular}{p{0.3\textwidth} p{0.7\textwidth}}
            \toprule
            Operating system & Ubuntu 16.04 LTS Server\\

            Middleware & ROS Kinetic~\cite{Quigley2009}\\

            Low-level control software & Orocos Real-Time Toolkit~\cite{Bruyninckx2001}\newline
            \url{https://github.com/tue-robotics/rtt_control_components}
            \\

            Simulation & Custom kinematics + sensor simulator \newline
            \url{https://github.com/tue-robotics/fast_simulator}
            \\

            World model & \acrfull{ed}, custom \newline
            \url{https://github.com/tue-robotics/ed}\\

            Localization & Monte Carlo~\cite{Fox2003} using \gls{ed}, custom \newline \url{https://github.com/tue-robotics/ed\_localization}\\

            SLAM & Gmapping package \newline \url{http://wiki.ros.org/gmapping}\\

            Navigation & CB Base navigation
            \newline
            \url{https://github.com/tue-robotics/cb_base_navigation}
            \newline
            Global: custom A* planner\newline Local: modified ROS DWA~\cite{Fox1997}\\

            Arm navigation & Custom implementation using MoveIt and Orocos KDL\newline
            \url{https://github.com/tue-robotics/tue_manipulation}
            \\

            Object recognition & Tensorflow ROS \newline
			\url{https://github.com/tue-robotics/image\_recognition/tree/master/tensorflow\_ros}\\

            People detection & Custom implementation using contour matching \newline
            \url{https://github.com/tue-robotics/ed_perception}
            \\
            Face detection \& recognition & Openface ROS \newline \url{https://github.com/tue-robotics/image\_recognition/tree/master/openface\_ros} \\

            Speech recognition & Dragonfly + Windows\texttrademark \hspace{0em} Speech Recognition \newline
            \url{https://github.com/tue-robotics/dragonfly_speech_recognition}\\
            Speech synthesis & \texttrademark \hspace{0em} Text-to-Speech\\
            Task executors & SMACH \newline
            \url{https://github.com/tue-robotics/tue_robocup}\\
            \bottomrule
        \end{tabular}
    \end{center}
\end{table}