Sunflower Mobile Robot Library

Libsunflower is a project that contains mobile robotic programming abstractions developed at the Autonomous Systems Lab of the Swiss Federal Institute of Technology in Lausanne (now at the Swiss Federal Institute of Technology in Zürich). It is written in C++ and provides a framework of classes and utilities for common tasks and patterns in mobile robotics. As a concrete application of those abstractions, libsunflower contains obstacle avoidance code developed during a PhD thesis (chapter 3). See the Sourceforge project summary for source code, releases, and support.

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Copyright (C) 2004, Autonomous Systems Lab,
                    Ecole Polytechnique Federale de Lausanne
		    (Swiss Federal Institute of Technology).
		    All rights reserved.

The C-wrapper code and autotools build files are
Copyright (C) 2005, LAAS/CNRS. All rights reserved.

Maintainer: Roland Philippsen <roland dot philippsen at gmx dot net>
Authors:    Viet Nguyen <viet dot nguyen at mavt dot ethz dot ch>
            Frederic Pont <frederic dot pont at mavt dot ethz dot ch>
            Agostino Martinelli <agostino dot martinelli at inrialpes dot fr>

The sunflower library is released under the GNU General Public
License. The C-wrapper and autotools files are released under the new
BSD license. See the COPYRIGHT, LICENSE.GPL, and LICENSE.BSD files for
more information.
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Getting Started

Source Code Repository

This project uses the Subversion revision control system. The repository can be browsed online on Sourceforge. Be sure to only take the trunk/sunflower part if you're only interested in the most recent sources, like this:

$ svn co https://libsunflower.svn.sourceforge.net/svnroot/libsunflower/trunk/sunflower

For more information on working with the Subversion repository, look at the online documentation available on Sourceforge.

Documentation

The online documentation was generated using Doxygen. Each release can also be downloaded with documentation, simply choose one of the tarballs tagged with-doc on the download page.

Installation

Download: Releases are available on the project download page.
Requirements: If you plan on building libsunflower yourself, you will also need the Boost smart pointer library (download at Sourceforge).
Build: The usual configure, make, and make install suffices. Tested under various Linux distros, Mac OS X, and OpenBSD.

Nepumuk: Simple 2D Mobile Robot Simulator

The source code of the Nepumuk simulator has been recently added to the libsunflower sources. It allows relatively quick develop-debug cycles, but currently it can only be accessed via subversion (no file releases yet).

$ svn co https://svn.sourceforge.net/svnroot/libsunflower/trunk/nepumuk

The sources can be browsed online.