Research Hub
Discover our open source projects, research initiatives, and conference participation, fostering collaboration and advancing technology within the global community.
Contact usMeet Beluga
A Modern, Performant, and Open-Source Localization Toolkit for ROS.
Beluga is an open-source Monte Carlo Localization (MCL) toolkit for ROS 2. It serves as a drop-in replacement for AMCL, redesigned from the ground up for performance, maintainability, and extensibility.
It provides a modern C++17 implementation that is fully compatible with Nav2 AMCL, offering comparable performance with a more modular and testable architecture.
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Beluga AMCL, A Modern Monte Carlo Localization Implementation for ROS
Presented by: Gerardo Puga, Ekumen, at ROSCon Denmark 2024.
Doing robotics in digital labs: Or how simulations fuel robotics development
Presented by: Michel Hidalgo, Ekumen, at GRASP SFI 2024.
Andino: Democratizing Robotics with an Affordable Educational Robot and Open-Source Technologies
Presented by: Franco Cipollone, Ekumen, Gazebo Community Meeting 2024.
Integración punta a punta de Open RMF e InOrbit en un depósito simulado.
Presented by: Agustin Alba Chicar, Ekumen, at ROSCon Madrid 2023.
Maliput & MaliputViz
Presented by: Franco Cipollone, Ekumen, Agustin Alba Chicar, Ekumen, & Eloy Briceno, Ekumen, Gazebo Community Meeting 2023.
Multi-LRAUV Simulation
Presented by: Michel Hidalgo, Ekumen, Gazebo Community Meeting 2022.
New features in Ignition Fortress
Presented by: Lola Segura, Ekumen, & Marcos Wagner, Ekumen, Gazebo Community Meeting 2021.
Bullet Physics for Gazebo Simulator
Presented by: Tomas Lorente, Ekumen, & Jorge Perez, Ekumen, Gazebo Community Meeting 2021.
Lessons Learned: A Brief History of Autonomous Robot Operations
Presented by: Florencia Grosso, Ekumen, and Julian Cerruti, InOrbit, at ROSCon Macau 2019.
Markup Extensions for ROS 2 Launch
Presented by: Ivan Paunovic, Ekumen, & Michel Hidalgo, Ekumen, at ROSCon Macau 2019.
Launch Testing - Launch description and integration testing for ros2
Presented by: Peter Baughman, Apex.AI, Michel Hidalgo, Ekumen, & William Woodall, Open Robotics, at ROSCon Macau 2019.
Composable Nodes in ROS 2
Presented by: Michael Carroll, Open Robotics, Michel Hidalgo, Ekumen, & William Woodall, Open Robotics, at ROSCon Macau 2019.
Developing Android robots
Presented by: Juan Ignacio Ubeira, Ekumen & Julian Cerruti, InOrbit, at ROSCon Vancouver 2017.
ROS android_ndk: What? Why? How?
Presented by: Gary Servin, ROSCon Hamburg 2015
Publications
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Gerardo Puga, Nahuel Espinosa, Michel Hidalgo, Olmer Garcia, and Ivan Paunovic. Beluga: a modern monte carlo localization package for ros and ros 2 [Manuscript submitted for publication]. 2024.
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Teetaert, S., Zhao, W., Xinyuan, N., Zahir, H., Leong, H., Hidalgo, M., Puga, G., Lorente, T., Espinosa, N., Duarte Carrasco, J. A., Zhang, K., Di, J., Jin, T., Li, X., Zhou, Y., Liang, X., Zhang, C., Loquercio, A., Zhou, S., Brunke, L., Greeff, M., Hoenig, W., Panerati, J., Schoellig, A. P., "A Remote Sim2real Aerial Competition: Fostering Reproducibility and Solutions' Diversity in Robotics Challenges". Sim2real Aerial Competition, IEEE/RSJ International Conference on Intelligent Robots and Systems 2022.
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García-Bedoya, O., Lorente, J. T., Murcia, S., "HEART-MET Assistive Robot Challenge with VideoMAE Transformers". Workshop on Evaluating Social Assistive Robots in Healthcare, ICSR 2022.