ahl_ros_pkg, which is a ROS package developed by Daichi Yoshikawa At Home Lab. It mainly composes of the following 3 things.

• Kinematics, Dynamics and Control of Robot
• Hand tracking system "Manipit"
• Others (utility, wrapper of OpenCV and OpenGL, digital filter and so on)

The remarkable packages are "ahl_robot_controller", which contains task space control (operational space control) and "neural_network". The following videos show how it works.

• Task space control of PR2.
  

• 7DOF Hand pose tracking using neural network.
  

• ahl_robot : Define robot with mobility and multiple arms, and compute Jacobian and Mass matrix
• ahl_robot_controller : Control robot based on torque in joint space or operational space (task space)
• ahl_gazebo_interface : Enable to get joint angles from gazebo and apply torques to gazebo robot model through shared memory
• ahl_pr2_description : URDF description of PR2
• ahl_youbot_description : URDF description of Kuka YouBot
• ahl_red_arm : URDF description of original red arm
• ahl_robot_samples : Sample programs of task space control using PR2 and YouBot
• ahl_digital_filter : Digital filters like a pseudo differentiator

• neural_network : Artificial neural network based on cpu computing
• gl_wrapper : Contains wrapper of OpenGL and provides skinned mesh parser
• cv_wrapper : Contains wrapper of OpenCV
• train_with_cg : Regression using neural network
• manipit : Hand tracking system using result of train_with_cg (Under development)

• gazebo_ros_pkgs : It's modified to enable to use shared memory for torque control
• openni2_camera : The same as the original
• openni2_launch : The same as the original
• cob_common, pr2_msgs, youbot_applilcations, youbot_driver : The same as the original and required to use physical YouBot

• Task space control of mobile manipulator(Kuka YouBot).
  

• Task space control of 7 DOF manipulator.
  

• Task space control of 11 DOF manipulator.