NASA has released its CLARAty (Coupled-Layer Architecture for Robotic Autonomy) robotic software for public downloading. CLARAty is an integrated framework for reusable robotic software that defines interfaces for common robotic capabilities such as pose estimation, navigation, locomotion, and planning. In addition to supporting multiple algorithms, CLARAty provides adaptations to multiple robotic platforms.
NASA is releasing most of the CLARAty infrastructure and several of its algorithms that have been approved for public release. The long-term goal is to release as much of the robotic functionality as possible in order to engage the public robotic community to develop surface mobility and robotic control algorithms for challenging environments.
The first release provides a sample of the CLARAty reusable robotic infrastructure and includes mechanism models for wheeled, legged, and hybrid vehicles. Other modules include support for generic digital and analog I/O, cameras, and motors. Several modules in this release provide vision infrastructure for images, color images, camera models, 3D point cloud, and surface normal image representations.
Visit here for more info on downloading the public elements of CLARAty .
