# RIS-Repo
**Repository Path**: RICS-Group/ris-repo
## Basic Information
- **Project Name**: RIS-Repo
- **Description**: This repository lists all the code packages of CQU RIS-lab.
- **Primary Language**: 其他
- **License**: MulanPSL-2.0
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 1
- **Forks**: 14
- **Created**: 2020-12-12
- **Last Updated**: 2023-01-30
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
# RIS-Repo
## Description
This repository lists all the source packages of RIS-lab. Before you submit an PR, please carefully read the instructions from [here](https://gitee.com/RICS-Group/ris-repo/wikis/Home?sort_id=3312578) and [here](https://gitee.com/RICS-Group/ris-repo/wikis/How%20to%20add%20an%20item?sort_id=3335610).
## Categories
### Demonstrations
#### **Competition**
##### [ A-Tec 2020 ]
- **Intro**: This is the source code for autonomous mapping & navigation for SC-Guard for A-Tec 2020 competition.
- **Link**: https://gitee.com/RICS-Group/atec/tree/master/atec
- **Maintainer**: [ZhenSheng Zhou](https://gitee.com/zhou-zhensheng) (1415135851@qq.com)
- **Status**: finished
#### **Robotic Manipulation**
##### [ Pick-up (no vision) ]
- **Intro**: This demo drives an AUBO-i5 arm and a Robotiq 2F-85 gripper to pick & place three bottles on the shelf. The trajectory of the arm is preset.
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/noetic-devel/demos/pickup_no_vision
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com)
- **Status**: finished
##### [ Pick-up (mono camera) ]
- **Intro**: This is a visual grasping demo based on a monocular camera. The distance between the camera and the bottle is calculated by the propotional relationship.
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/noetic-devel/demos/pickup_mono_cam
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com), [Yong Li](https://gitee.com/ly-private) (884581584@qq.com), [BoHao Peng](https://gitee.com/mubaigao) (773867386@qq.com)
- **Status**: finished
##### [ Mobile Manipulator in Webots ]
- **Intro**: We build a mobile manipulator robot in Webots. The robot is designed for a series of experiments including VSLAM, grasping, learning, etc.
- **Link**: https://gitee.com/RICS-Group/mobilemanipulation_webots
- **Maintainer**: [Yanan Liu](https://gitee.com/liuyn111) (825444567@qq.com)
- **Status**: ongoing
#### **Mapping & Navigation**
##### [ Mapping and Navigation with 2D Laser ]
- **Intro**: This is the simulation for autonomous mapping & navigation in the Gazebo9
- **Link**: https://gitee.com/RICS-Group/mapping-and-navigation-with-2-d-laser
- **Maintainer**: [WenHao Fu](https://gitee.com/ahao1q97) (770178537@qq.com)
- **Status**: finished
##### [ Mapping and Navigation with 3D Lidar ]
- **Intro**: This is the demo for mapping and navigation based on 3D-LIDAR
- **Link**: https://gitee.com/RICS-Group/lidar-based-mapping-and-navigation.git
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
##### [ Mapping and Navigation with Vision ]
- **Intro**: This is the demo for mapping and navigation based on Realsense T265 and D435i.
- **Link**: https://gitee.com/RICS-Group/vision-based-mapping-and-navigation.git
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com) Hai Li(389935784@qq.com)
- **Status**: ongoing
##### [ Mapping Planning and Perceptual Recognition with UAV ]
- **Intro**: This is the simulation for autonomous mapping & navigation & Perceptual recognition with PX4 and Mavros in the Gazebo9
- **Link**: https://gitee.com/RICS-Group/mapping-planning-and-perceptual-recognitionand-with-uav
- **Maintainer**: [WenHao Fu](https://gitee.com/ahao1q97) (770178537@qq.com)
- **Status**: ongoing
##### [ Real-time Stereo Depth Estimation based on SGBM in Webots ]
- **Intro**: This is a demo that mobile robot based on stereo camera can realize real-time depth estimation in Webots, which relies on SGBM stereo matching algorithm. Finally, 3D point cloud data can be obtained to serve for mapping.
- **Link**: https://gitee.com/RICS-Group/real-time-stereo-depth-estimation-based-on-sgbm-in-webots
- **Maintainer**: [Shimin Liu](https://gitee.com/lsm67) (1325832575@qq.com)
- **Status**: ongoing
### Algorithms
#### **Ojbect Detection (Target Detection)**
##### [ Dense YOLOv4 with Attention Mechanism ]
- **Intro**: This is an improved YOLOv4 detection algorithm based on the PyTorch framework, which can obtain the target (pedestrian, vehicle, obstacle, etc.) in the current frame from the image. We use it in the unmanned logistics vehicle system.
- **Link**: https://gitee.com/RICS-Group/logistics-vehicle/tree/master/detection/dense_yolo
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: ongoing
##### [ YOLOv4 (Darknet version) ]
- **Intro**: This is a neural network detection algorithm based on the Darknet framework (yolov4, etc.) to obtain the target (pedestrian, vehicle, obstacle, etc.) in the current frame from the image
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_darknet2_detect
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
##### [ YOLOv5 (PyTorch version) ]
- **Intro**: This is a yolov5 detection algorithm based on the PyTorch framework, which can obtain the target (pedestrian, vehicle, obstacle, etc.) in the current frame from the image
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_yolov5_detect
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
##### [ SSD (Caffe version) ]
- **Intro**: This is an SSD (Single Shot Detector) detection algorithm based on Caffe framework, which can obtain the target (pedestrian, vehicle, obstacle, etc.) in the current frame from the image
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_ssd_detect
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
#### **Lane Detection**
##### [ OpenCV Lane Detection ]
- **Intro**: This is a lane line detection algorithm based on OpenCV, which can find lane information of current image frame.
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_cvlane_detect
- **Maintainer**: [Shimin Liu](https://gitee.com/lsm67) (1325832575@qq.com)
- **Status**: finished
##### [ Ultra Fast Lane Detection ]
- **Intro**: This is ultra-fast-lane-detection algorithm based on the PyTorch framework, which can find lane information of current image frame.
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_uflane_detect
- **Maintainer**: [Shimin Liu](https://gitee.com/lsm67) (1325832575@qq.com)
- **Status**: finished
#### **Text Recognition**
##### [ Chinese Character Recognition ]
- **Intro**: This is a character recognition algorithm based on the python framework (RCNN + anglenet + psenet). We use it in the unmanned logistics vehicle system.
- **Link**: https://gitee.com/RICS-Group/logistics-vehicle/tree/master/detection/vision_ocr_detect
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: ongoing
#### **Grasping Point Detection**
##### [ GR-CNN GPD ]
- **Intro**: This is a grasp detection algorithm (GR-CNN) based on the PyTorch framework, which predicts a suitable antipodal grasp configuration for the objects in the image
- **Link**: https://gitee.com/RICS-Group/robotic-grasping/tree/master/grasp_detection
- **Maintainer**: [Yong Li](https://gitee.com/ly-private) (884581584@qq.com)
- **Status**: ongoing
##### [ PointNet GPD ]
- **Intro**: This is an end-to-end grasp evaluation model to address the challenging problem of localizing robot grasp configurations directly from the point cloud
- **Link**: https://gitee.com/RICS-Group/point-net-gpd/tree/master/PointNetGPD
- **Maintainer**: [BoHao Peng](https://gitee.com/mubaigao) (773867386@qq.com)
- **Status**: ongoing
#### **Mapping**
##### [ Vision-based Dense Mapping ]
- **Intro**: This is a complete simultaneous localization and mapping (SLAM) system for stereo and RGB-D cameras, including map reuse, loop closing, relocalization, and **dense mapping capabilities**.
- **Link**: https://gitee.com/RICS-Group/vision-based-dense-mapping
- **Maintainer**: [Yufeng Diao](https://gitee.com/diaoyvfeng) (diaoyvfeng@qq.com)
- **Status**: ongoing
##### [ Local Mapping ]
- **Intro**: This is a local mapping module of the digital road, which combines the semantic information of the image and the laser point cloud to construct a real-time semantic local map.
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/mapping/digi_map
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
#### **Misc**
##### [ ZBar Barcode Detection ]
- **Intro**: This is a QR code detection algorithm based on [Zbar](http://zbar.sourceforge.net/).
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/detection/vision_barcode_detect
- **Maintainer**: [Shimin Liu](https://gitee.com/lsm67) (1325832575@qq.com)
- **Status**: finished
##### [ Chassis Pose Estimation ]
- **Intro**: This is a package to estimate chassis pose used data from Chassis_IMU for SDNYC
- **Link**: https://gitee.com/RICS-Group/SDNYC-control/tree/master/planning_control/pose_est
- **Maintainer**: [LiShuai Yu](https://gitee.com/cqyls) (cqyls_2005@163.com)
- **Status**: ongoing
##### [ Negative Obstacle Detection ]
- **Intro**: This is a negative obstacle detection algorithm based on 3D LIDAR.
- **Link**: https://gitee.com/RICS-Group/negative-obstacle-detection.git
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
### Utilizations
#### **Dependencies**
##### [ Autoware.AI Dependencies ]
- **Intro**: This is the dependencies ported from Autoware.AI repo
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/autoware
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
#### **Toolets**
##### [ Integrated Viewer (RViz plugin) ]
- **Intro**: The integrated_viewer is an RViz plugin for visualizing the detected objects on an ROS sensor_msgs::Image topic.The plugin is adopted from Autoware.AI.
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/visualization
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
##### [ Camera LiDAR Calibrator ]
- **Intro**: Camera calibration and camera-lidar calibration tools ported from Autoware.AI.
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/utils/autoware_camera_lidar_calibrator
- **Maintainer**: [Yong Li](https://gitee.com/ly-private) (884581584@qq.com)
- **Status**: finished
##### [ Hand Eye Calibrator ]
- **Intro**: Hand-eye calibration tool based on OpenCV4.
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/utils/hand_eye_calibrator
- **Maintainer**: [Yong Li](https://gitee.com/ly-private) (884581584@qq.com)
- **Status**: finished
##### [ Image Labelling with YOLOv4 ]
- **Intro**: This is a data marking program based on the existing training
- **Link**: https://gitee.com/RICS-Group/automatic-tagging
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
##### [ Text to Image ]
- **Intro**: This is a applet to convert a formatted string into an image by PyGame
- **Link**: https://gitee.com/RICS-Group/text-to-image
- **Maintainer**: [Ying Wang](https://gitee.com/wang_y2019) (764211025@qq.com)
- **Status**: finished
#### **APIs**
##### [ Device Manager for SC-01 ]
- **Intro**: Device function API connecting driver layer and application layer for SC-01 robot
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/drivers/device_manager
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com)
- **Status**: finished
##### [ PX4 Command for UAV ]
- **Intro**: This is a project based on the PX4 open source firmware and the Mavros package for UAV
- **Link**: https://gitee.com/RICS-Group/px4_command-with-uav
- **Maintainer**: [WenHao Fu](https://gitee.com/ahao1q97) (770178537@qq.com)
- **Status**: ongoing
##### [ STM32 Command for UAV ]
- **Intro**: This is a project to communicate with STM32 ROS nodes for UAV
- **Link**: https://gitee.com/RICS-Group/stm32_command-with-uav
- **Maintainer**: [WenHao Fu](https://gitee.com/ahao1q97) (770178537@qq.com)
- **Status**: ongoing
### Drivers
#### **SDNYC**
##### [ Chassis IMU for SDNYC ]
- **Intro**: This is the Drivers to read data from chassis IMU for the 6-wheeled AGV.
- **Link**: https://gitee.com/RICS-Group/SDNYC-control/tree/master/sensor_interface/sanchi_amov
- **Maintainer**: [LiShuai Yu](https://gitee.com/cqyls) (cqyls_2005@163.com)
- **Status**: finished
##### [ Joystick for SDNYC ]
- **Intro**: This is the drivers to read data from chassis Joystick
- **Link**: https://gitee.com/RICS-Group/SDNYC-control/tree/master/sensor_interface/transfor_joy
- **Maintainer**: [LiShuai Yu](https://gitee.com/cqyls) (cqyls_2005@163.com)
- **Status**: finished
##### [ Livox LiDAR for SDNYC]
- **Intro**: ROS driver for Livox (3D LiDAR sensors)
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/sensor_interface
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
##### [ RoboSense LiDAR for SDNYC]
- **Intro**: ROS driver for RoboSense LIDAR (3D LiDAR sensors)
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/sensor_interface/ros_rslidar
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
##### [ RTK driver for SDNYC]
- **Intro**: ROS driver for RTK (MINI2-D-INS-Receiver)
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/sensor_interface/rtk_driver
- **Maintainer**: [Lang Liu](https://gitee.com/liu_mingxin_v) (791877036@qq.com)
- **Status**: finished
#### **KCG**
##### [ Realsense Camera for KCG]
- **Intro**: ROS driver for Realsense Camera
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/sensor_interface/realsense-ros
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
##### [ RPLiDAR for KCG ]
- **Intro**: ROS driver for RPLIDAR A1/A2/A3
- **Link**: https://gitee.com/RICS-Group/SDNYC-navigation/tree/master/sensor_interface/rplidar_ros
- **Maintainer**: [QingZhi Wang](https://gitee.com/QZ_Wang) (1432344037@qq.com)
- **Status**: finished
#### **SC-01**
##### [ Odometry for SC-01 ]
- **Intro**: This is the ROS driver package for obtaining inertial navigation and GPS data of SC-01 robot
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/drivers/get_sensor_data
- **Maintainer**: [ZhenSheng Zhou](https://gitee.com/zhou-zhensheng) (1415135851@qq.com)
- **Status**: finished
##### [ Hikvision PTZ for SC-01 ]
- **Intro**: ROS driver for PTZ cameras of Hikvision series. The package depends on the Hikvision SDK (included in this repo)
- **Link**: https://gitee.com/RICS-Group/SDNYC-perception/tree/neotic-devel/drivers/hikvision_driver
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com)
- **Status**: finished
##### [ AUBO-i5 for SC-01 ]
- **Intro**:ROS driver for AUBO manipulator (AUBO-i5)
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/drivers/aubo_robot
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com)
- **Status**: finished
##### [ Robotiq 2F-85 for SC-01 ]
- **Intro**: ROS driver for Robotiq gripper (2F-85)
- **Link**: https://gitee.com/RICS-Group/ris-xunxian/tree/ly-devel/drivers/robotiq_driver
- **Maintainer**: [Qi Qi](https://gitee.com/mango_jam) (3054006414@qq.com)
- **Status**: finished
#### **SixWheelRobot**
##### [ ROS SDK for SixWheelRobot ]
- **Intro**: ROS driver for SixWheelRobot (ROS SDK)
- **Link**: https://gitee.com/RICS-Group/six-wheel-robot
- **Maintainer**: [Yu Wen](https://gitee.com/Wen__Yu) (987206334@qq.com)
- **Status**: finished