A set of basic tutorials will guide you build your EnviRe model from the real world
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.
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.
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.
Envire is mainly designed to support autonomous navigation in real world scenarios. Localization, perception, path planning and execution tasks.
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.
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.
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.
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.
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.
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.