wiki:Plugins

Version 20 (modified by ibongartz, 2 months ago) (diff)

Add plugin clips-smt to section Behavior and Task Coordination.

Fawkes Plugins

Here you find a list of existing Fawkes plugins. Please add your own with links to its documentation. The plugins are categorized regarding their function. Be aware that a plugin is listed in only one category, while it might belong to multiple, e.g. the katana plugin is a hardware access as well as an actuation plugin, but only listed for hardware access.

Hardware Drivers and Platforms

bumblebee2
Bumblebee2 stereo camera driver plugin.
joystick
Joystick hardware driver plugin and remote tool.
katana
Hardware driver for Neuronics Katana arm.
laser
Hardware driver for laser range finders like the Hokuyo URG.
nao?
Nao integration plugin, connects NaoQi and Fawkes.
openni-data?
Provides raw data (point clouds, images) acquired via OpenNI.
pantilt
Hardware plugin for pan/tilt units.
robotino?
Plugin to connect Fawkes and OpenRobotino, provides Robotino low-level access to Fawkes.
roomba?
Hardware plugin to support the Roomba platform.

Perception

laser-filter
Run filter cascades on laser data.
laser-lines
Detect lines in laser range finder data.
laser-cluster
Detect clusters in laser range finder data.
map-lasergen
Generate laser data for a given map and position within (for testing localization).
openni-usertracker?
Write user tracker results from OpenNI to the blackboard.
openni-handtracker?
Write hand tracking results from OpenNI to the blackboard.
tabletop-objects
Tabletop scene segmentation and object detection using RGB-D/Kinect.
fvbase?
Vision master provider, camera access and vision thread timing.
fvfountain?
Network access to FireVision images.
fvretriever?
Simple plugin with the only purpose to retrieve images.
srsave?
Plugin to save data from SwissRanger depth cameras.
amcl
Adaptive Monte Carlo Localization (AMCL) plugin.
colli
Collision avoidance and local navigation.
navgraph
Graph-based locomotion path planning.
static-transforms
Publishes static transforms in certain intervals.
robot-state-publisher
Reads a robot model and joint values and publishes respective transforms.

Actuation and Speech

festival
Festival speech synthesis integration.
flite
Flite speech synthesis integration.
openrave
OpenRAVE motion planning support.

Behavior and Task Coordination

clips-agent
CLIPS-based agent environment.
luaagent?
Lua-based agent environment for the behavior engine.
skiller
Skill execution and run-time, heart of the behavior engine.
xabsl?
XABSL integration plugin (demonstration only).
clips-smt
CLIPS-based SMT planning approach.

Communication, Integration, and Logging

bblogger
Blackboard logging and replaying.
bbsync
Synchronize blackboard of multiple instances (selectively).
clips
CLIPS context integration plugin.
laser-pointclouds
Generate point clouds from laser data.
mongodb-log
Log blackboard data to MongoDB.
refboxcomm?
RoboCup referee box communication plugin (SPL and MSL).
xmlrpc?
Plugin to provide simple XML-RPC API for Fawkes.

Framework Utilities

mongodb-rrd?
Log MongoDB performance data as RRD graphs.
rrd?
Round robin database aspect provider.
rrdweb?
Make RRD graphs available via webview.
ttmainloop
Time tracking main loop for measuring time per hook.
webview
General plugin that provides a web interface for Fawkes.

Integration

mongodb?
Plugin that provides an aspect to access MongoDB databases.
openni?
Adapter plugin that provides an aspect to access OpenNI features.
openni-pcl-from-buf?
Get data from FireVision point cloud buffer and create PointCloud structure, i.e. when OpenNI plugins are separated into their own process.
player?
Player integration plugin.

ROS Integration (documentation)

ros
Provide interaction with ROS.
ros-images?
Publish FireVision images to ROS.
ros-laserscan?
Provide laser scans to ROS.
ros-pcl?
Provide point clouds to ROS.
ros-skiller
Expose skill execution and monitoring to ROS.
ros-tf?
Bidirectional integration of the ROS and Fawkes transform frameworks.
ros-webview
Allows ROS nodes to extend the Fawkes webview web interface.

Simulation

Gazsim
Simulation of the RoboCup Logistic League with Gazebo