Humanoid Driving

Humanoid driving is a stack related to driving a car with humanoid robots. It brings tools to create the necessary arm and leg motions, a GUI with joystick support and robot on-board software. The robots needs to provide position joint controllers that listen for trajectory_msgs/JointTrajectory.


The stack also features a visualization of the estimated driving path directly in the camera image.

Hector Localization

The hector_localization stack is a collection of packages, that provide the full 6DOF pose of a robot or platform. It uses various sensor sources, which are fused using an Extended Kalman filter. Acceleration and angular rates from an inertial measurement unit (IMU) serve as primary measurements. The usage of other sensors is application-dependent. The hector_localization stack currently supports GPS, magnetometer, barometric pressure sensors and other external sources that provide a geometry_msgs/PoseWithCovariance message via the poseupdate topic (e.g. from hector_slam).

Hector Navigation

hector_navigation provides packages related to navigation of unmanned vehicles in USAR environments.

Hector SLAM

hector_slam contains ROS packages related to performing SLAM in unstructured environments like those encountered in the Urban Search and Rescue (USAR) scenarios of the RoboCup Rescue competition.


ROS packages for the Robotis THOR-MANG robot.