Build your own Environment

EnviRe is designed to represent the world for autonomous systems in real scenarios.

Installation

Installation guide of EnviRe in your system.

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Documentation

Understand how EnviRe works taking advantage of its capabilities.

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Tutorials

A set of basic tutorials will guide you build your EnviRe model from the real world

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Take advantage of EnviRe features

EnviRe is a modular, tool-based library with an open-ended design.

  Envire Graph

The EnviRe model is a strongly connected directed graph which facilitates to store and relate sensor data acquisition, processing, and operations among different data formats in order to accomplish robotics navigation and planning demands.

  Data is King

In environment representation data is king. A diverse set of processed sensory data is allowed to store in EnviRe. Classic maps, point clouds, features and many more are the means to comprise a rich representation of the world.

  Operators

The reasoning for having a common datastructure for representing the environment is to simplify the interchange of algorithms between applications. Operators facilitates such data conversion among items.

  Navigation

Envire is mainly designed to support autonomous navigation in real world scenarios. Localization, perception, path planning and execution tasks.

  Simulation

EnviRe supports the process to automatically build simulation models in the real-time physics engine. This allows to generate simulated worlds based on the models generated by the robot from its interactions with the real world.

  Visualization

Envire provides a visualization module based on Vizkit3D plugins. Vizkit3D work on a modular fashion based on Open Scene Graph, OpenGL and Qt. Vizkit3D supports standalone and Rock framework visualization mechanism.

  Modules

Envire is designed based on a modular plug-in mechanism in order to facilitate maintainability and integrability of 3rd party libraries as OpenCV, PCL and OctoMap.

  Serialization

Envire provides common services. All objects supports serialization/deserialization. There is also handling for meta information associated with the individual elements. Further, there is an event system, which can be used for notification on changes in the structure of the environment.

  Framework Integration

Envire is a standalone set of modules that comprise a library. Though Envire provides Rock framework integration services, it is framework independent and integrates nice with the framework of your choice.

  GIS

Envire is a standalone set of modules that comprise a library. Though Envire provides Rock framework integration services, it is framework independent and integrates nice with the framework of your choice.