igus Humanoid Open Platform ROS Software


This repository contains a ROS-based software framework for the igus Humanoid Open Platform.

Authors & License

The software was developed by the Autonomous Intelligent Systems group, at the University of Bonn. The software contents of this repository are released under the BSD-3 license (see the LICENSE file inside the repository for details).


This software release has been documented using the Doxygen documentation generation system. The documentation can be accessed online here.
Alternatively, to generate the main package documentation, please refer to src/nimbro/README and the src/nimbro/doc folder. Additional doc folders exist for other main components of the repository as well.

Installation and Dependencies

Please refer to the installation page in the Doxygen documentation for detailed installation instructions. The core system dependencies are as follows:


For more information, please refer to the following webpages: