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View [GSOD2019]

Google Season of Docs (GSoD) 2019: RoboComp’s basic components


As quoted on RoboComp GSoD website,

RoboComp is an open-source Robotics framework providing the tools to create and modify software components that communicate through public interfaces. Components may require, subscribe, implement or publish interfaces in a seamless way.

The robocomp repo includes a wide range of components (maintained in smaller repo named robocomp-robolab) for different robotic applications such as motor control, localization and mapping, navigation, recognition, etc. However, most of the components in robocomp-robolab repo currently lack detail instructions on how to compile and how to use in different parameter configurations. This creates a huge obstacle for new developers who want to use components in their projects or contribute to the framework. The reason is that many components (i.e hokuyoComp) are a wrapper of external driver or libraries having many de


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Last active Jun 5, 2019
Setting up ROS workspace with catkin tools and wstool
mkdir -p ~/<name>/src
cd ~/<name>
catkin init
catkin config --extend /opt/ros/<distro>
View [GSOC2018]

Flexible perception pipeline manipulation for RoboSherlock (GSOC 2018)


The project objectives is to enable Robosherlock to handle multiple paralleled annotators processing branches, while reserving the original capability of Robosherlock in linear execution. Therefore, this project, which enhances Robosherlock the flexibility to handle concurrent or sequential processes, improves overall execution performance, scalability and better error handlings. The project was done to fullfill the requirements of Google Summer of Code 2018 with IAI, University of Bremen.

The current state after merging on branch master of Robosherlock is compilable. The API is simple to use, it is a flag parallel in ROS launch file that indicates the pipeline should be executed parallel or not. However, it requires new dependency KnowRob in order to compile and run correctly.

Pull request: [[Link](

View [GSOC2018]

GSOC2018 First milestone progress report

Flexible perception pipeline manipulation for RoboSherlock

Current status

The project is going on track as required by the scope of RoboSherlock on this year GSOC.

Two things have been completed:

  • Implement RSParallelPipelinePlanner that is able to mark execution orderings of annotators based on their required inputs and outputs.
  • Examine UIMACPP code repository, gain a deep level of how a AnalysisEngine execution calls annotators' process.

All implementation so far does not require new dependencies.


Autonomous Mobile Robot (Experimental)


The aim of this project is to create mobile robot that can navigate correctly in-door environment. The robot can scan and save surrounding environment as occupancy grid, then basing on that map, it can localize and navigate itself on scanned map. Due to these capabilites, the robot can plan a path from A to B as instructed via Rviz on global map (scanned map), it can also detect unknown obstacles during operation and plan a local path to robustly avoid them and ensure the success of navigation task.

Link to github:

Building robot (Hardware part)

View [GSOC2017]

Multi-modal Cluttered Scene Analysis in Knowledge Intensive Scenarios (GSOC 2017)


Unstructured information such as video, text and audio represents the largest and fastest growing source of information of our modern world. The goal of AI is to approach the human abilities to process efficiently the vast amount of Unstructured Data in this complex real world. This project focuses on Object Hypotheses and Segmentation task using Symmetry Constraints in cluttered and occluded scenarios, which is developed as Rotational and Bilateral Symmetry Segmentation Analysis Engines on Robosherlock framework. This project enables RoboSherlock to operate in knowledge intensive real world. The project was done to fullfill the requirements of Google Summer of Code 2017.

The current state of this repository on branch master is compilable. It was managed to not use any other library dependencies than the main repo. The system is now able to robustly detect rotational, bilateral




The current state of this repository on branch master is compilable. It was managed to not use any other library dependencies than the main repo. The branch is now able to robustly detect rotational symmetries and segment round object in cluttered scene.


  1. Parallel extracting segments from a cloud with different parameters to generate a resource for symmetry detection:
  • Graph structures and graph algorithms
  • Implementing merging similar segment mechanism
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