This page provides an overview of software developed by our team. Many of them are Pharo-based and/or target robotics. You can also browse our github for our latest code.

Pharo-Based Projects

• PhaROS: a Pharo implementation of a Client to interface with ROS(Robot Operating System)
  • Install Pharos for ROS Kinetic (june 2018)
  • Install Pharos for ROS Indigo (june 2014)
• PolySLAM: A 2D Polygon-based SLAM for Robotic Mapping
• BoTest: an extension of the SUnit Test Framework and its test Runner to support TDD for Robotics Software development
• PharoJS: Develop in Pharo, run on top of JavaScript for web applications, or mobile apps based on Phone Gap.

ROS packages

• published on the ROS Wiki
  • tf_splitter 
  • pose_publisher, 
  • map_merging, 
  • multirobot_map_merge, 
  • frontier_allocation,
  • adaptive_local_planner
• Package turtlebot_web: allows to control a turtlebot through a web browser

Older Projects

• BOSS: a roBOT Simulation in Smalltalk
  • Formerly named “Bot Grid Simulator”
• WifiBotST: a framework for building control architecture for wifibot robots. Allows also building simulations.
• MalevaST: an infrastructure for developing using the component model Maleva. Experimented to build a simulator of a vacuum cleaner robot.
• Arduino control using Pharo Smalltalk
  • requires EthernetFirmata.zip that supports the Firmata protocol for Arduino board with Ethernet shield
• Archived Smalltalk software on our previous site