GSoC/GCI Archive
Google Summer of Code 2015

Open Source Robotics Foundation

License: Apache License, 2.0

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Open Source Robotics Foundation, Inc. (OSRF) is an independent non-profit organization in Mountain View, California ( Our mission is to support the development, distribution, and adoption of open source software for use in robotics research, education, and product development. Our work is supported by contracts, grants, and donations from government and industry. At the time of writing, we have a full-time staff of 18, mostly software engineers.


  • Cartesian Path Planning Library (Descartes) Improvements Descartes is an actively developed path planning library for industrial processes, including welding, machining, and painting. The first task is to develop a Descartes - MoveIt adapter which would allow the use of a few existing tools. The second phase includes improving upon the ROS Message API by creating new or leverage existing ROS APIs in order to exploit the full power of Descartes functionality, allowing higher level GUIs and other ROS processes access to Descartes planning capabilities.
  • Ignition Robotics Transport Library - Add more features to the main library The objective of the project is to implement additional features to the main library of the IGN Transport library. This includes implementing the ability to send/receive compressed messages, adding authentication and encrypted data and enabling latching. The long term goal is for IGN Transport to become a powerful, yet lightweight, library for the communication layer of robotics applications.
  • RoboCup Soccer Humanoid Simulator using Gazebo and a Sample Soccer Agent This project aims to adapt the Gazebo framework to simulate the RoboCup soccer environment. As a test bed, a sample soccer agent will be developed, so that its main task is to walk through the ball, and dribble the ball. Walking is the most challenging task in humanoid soccer robots, and having the well-established walk engine library can be interesting, and it can be seen as an initiative framework for other researchers who are willing to develop their project by Gazebo simulator.
  • ROS - PROFINET wrapper Hardware interfaces are top-level priority in ROS-Industrial Roadmap, however if not considering canopen package from IPA, there hasn't been any obvious progress in this field for quite a long time now. The goal of proposed project is therefore to develop a ROS-Profinet-wrapper for Siemens CP1616 Profinet PCI card in order to make Profinet communication interface available to ROS-Industrial community.
  • Simulate wide-angle lens for vision sensors and a bit more Gazebo currently does support simulation of wide-angle lens cameras like fish-eyes. This project involves using Gazebo's graphics rendering engine OGRE to create wide-angle camera sensors, potentially by stitching multiple camera images together in shaders then adding distortion effects. The results should be validated using computer vision libraries such as opencv.
  • Support to Neural interfaces for ROS and/or Gazebo The main goal of this project is create a ros package, drivers, plugin library and virtual sensors to be used into Gazebo context which will be able to communicate with devices like EEG headsets like Myo which capture complex electro signal brainwaves.