Available modules

With Overworld, a perception module is an entry point to gather data either about objects, areas, humans, or the robot. To be as modular as possible and to adapt to your specific needs, Overworld uses a plugin system for its perception modules.

Here you have a list and description of built-in modules and additional known modules.

Built-in modules

FakeHumanPerceptionModule

A human perception module providing fake body parts from a ROS topic.

FakeObjectPerceptionModule

An object perception module providing fake objects from a ROS topic.

JointStatePerceptionModule

A robot perception module using robot joint state and robot description file (urdf).

ObjAreasPerceptionModule

An area perception module providing static areas.

StampedPosePerceptionModule

A human head perception module using a poseStamped ROS message. The module subscribe to "/peopleTrack".

StaticObjectsPerceptionModule

An object perception module providing static objects.

External modules

Packages providing the external modules just have to be cloned in your ROS workspace.

ArTrackPerceptionModule

An object perception module using the Ar_track_alvar system.

OptitrackPerceptionModule

A human perception module using the Optitrack mocap system.

Pr2GripperPerceptionModule

An object perception module using the Pr2 pressure sensors.