NASA and Caltech release CLARAty

Industrial Robot

ISSN: 0143-991x

Article publication date: 7 March 2008



(2008), "NASA and Caltech release CLARAty", Industrial Robot, Vol. 35 No. 2.



Emerald Group Publishing Limited

Copyright © 2008, Emerald Group Publishing Limited

NASA and Caltech release CLARAty

NASA and Caltech release CLARAty

CLARAty is the coupled layer architecture for robotic autonomy. The first release of its software, version 0.10- b, is now available publicly at:

CLARAty is an integrated framework for reusable robotic software. It defines interfaces for common robotic functionality and integrates multiple implementations of any given functionality. Examples of such capabilities include pose estimation, navigation, locomotion and planning. In addition to supporting multiple algorithms, it provides adaptations to multiple robotic platforms. CLARAty development was primarily funded by the mars technology program and it serves as the integration environment for the program's rover technology developments.

With this release, a total of 44 CLARAty modules (,100K lines of source code) are now available under Caltech TSPA License. This release is intended to share with the robotics community some of the core robotic modules which were jointly developed with NASA Ames Research Center, Carnegie Mellon, and University of Minnesota. This first release represents about 10 percent of all CLARAty modules and 30 percent of the generic modules planned for future release.

Primary functionality in these modules includes math infrastructure, rotation matrices with Euler angles, quaternions, and coordinate transformations (interoperable homogeneous and quaternion transforms). It also includes the coordinate frame infrastructure that connect transformations and mechanisms with moving parts. Additionally, you will find mechanism models for wheeled, legged and hybrid vehicles. Other modules include device and device group infrastructure with 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.

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