LAR Toolkit V4 Dependencies of Package Sets

The LAR toolkit (v4) is developed in ROS and is therefore organised in packages. For easier association, these packages are organised physically in sets of packages that share some similar funcionality. Many of the packages depend on ROS own packages, but some also depend on LAR toolkit's packages spread over the package sets. This document illustrates the depedencies of packages within each of the several package sets that make up the LAR toolkit. Some common dependencies may be ommited such as: roscpp|std_msgs. The package sets currently present in the LAR toolkit are: applications bases demos hmi navigation perception planning sensors utils

Legend for figures: Inside the yellow blocks is also mentioned the original creator of the package, the date of the last modification and its correspondent SVN revision. Blocks may also include an icon stating the quality of documental package description: Individual statistics of packages (for v3) can be found here.
Individual statistics of packages (for v4 on server probably outdated) can be found here.
Individual statistics of packages (for v4 in your local computer) can be found here.

applications

Contains the launch files/commands to deploy applications. This also include some base procedures for demonstrations, for example. No source code is expected in this package set.
This package set includes the following packages highlighted in yellow in the figure: atlascar.

bases

Contains packages concerning the control of hardware devices: the bases. Each base (one package) may contain several nodes (executables) regarding different hardware subsystems. The bases are normally robots basic motion units or dedicated subsystems with own motion independent of the robot motion itself. Most of these nodes use other utils packages for motor driver interface and similar.
This package set includes the following packages highlighted in yellow in the figure: atlascar_base, atlascar_ptu, atlasmv_base, foveation_control, humanoid_control, laser_rotate_3d, phantom_control, phua_haptic, ptu46, ptu_control.

demos

Contains packages regarding demonstrations, including the required launch files as well as instructions or other launch files from other packages or applications.
This package set includes the following packages highlighted in yellow in the figure: follow_pedestrian, laser_scan_to_text.

hmi

Contains packages concerning Human Machine Interface. This includes monitoring and information display form the robots, and teleoperation interfaces.
This package set includes the following packages highlighted in yellow in the figure: atlas_sound_player, atlascar_teleop, humanoid_simulation, remote_monitor, vrep_common, vrep_plugin.

navigation

Contains packages concerning navigation in a more broad approach, not included in other specific package sets such as planning. This may include following a leader, avoid obstacles in potential fields or RRT approaches and similar. It covers the steps to calculate the actual immediate motion directives according to some specific algorithms that extract information from perception and possibly conditioned to planning restrictions
This package set includes the following packages highlighted in yellow in the figure: leader_follower.

perception

Contains packages concerned with sensorial data interpretation and representation. It covers algorithms to transform and extract from raw (or barely processed) sensorial data some kind of higher-level meaning. This covers both for exteroception (enviroment) and proprioception (robots internal state).
This package set includes the following packages highlighted in yellow in the figure: arrow_detection, atlascar_egomotion, caltech_lanes, datamatrix_detection, driver_monitoring, driver_recognition, haptic_force, lidar_egomotion, lidar_segmentation, mtt, multimodal_pedestrian_detect, navigability_map, parking_detection, pedestrian_detect, pointcloud_segmentation, polygon_primitive_msg, polygon_primitives_extraction, road_recognition.

planning

Contains packages concerning motion planning in the context of navigation, such as trajectory planning for local nabvigation actions or more long term path or course planning such as map based planning.
This package set includes the following packages highlighted in yellow in the figure: trajectory_planner.

sensors

Contains packages concerning interface with sensors without any dedicated data processing. The packages connect to hardware or use other packages that interface the low level (data acquisition from sensors and similar devices). Occasionally, these packages may produce several representations of the same data, such as polar and cartesian measurements from environment.
This package set includes the following packages highlighted in yellow in the figure: gps, human_driver_monitor, imu_network, laser_3d_pointcloud, lms1xx, lse_xsens_mti, multisensor_aquisition, odometer, optoelectric, pedal_monitor, pressure_cells, usb_cam_reader, xb3.

utils

Contains packages that are generic utilities that can be used by other packages. They can be drivers to common hardware, pre-processing algorithms, data transformation, etc.
This package set includes the following packages highlighted in yellow in the figure: bo_polygon2d, cereal_port, colormap, database_interface, device_mapper, hitec5980sg, human_leader, kfilter, kml_path_creator, mit_darpa_logs_player, pc_accumulation, plane_model_road_segmentation, points_from_volume, process_target, serialcom, tcp_client, toolkit_diagnostics, topic_priority, visp_ros, wrapper_collada.
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