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The RESPOND-R framework is a modular, distributed data logging framework built for the purpose of studying Emergency Informatics as it relates to human robot performance during disaster responses. Tutorials can be found on the wiki: https://sourceforge.net/p/respondr/wiki/
...It has been tested on all Ubuntu version from the last few years and will probably work with most modern linux distributions.
Please see the wiki for installation and examples:
https://sourceforge.net/p/comps/wiki/Home/
ROS package implementing the Lightning Framework using OMPL
...The code was developed at UC Berkeley by Cameron Lee and Dmitry Berenson under the supervision of Prof. Pieter Abbeel and Prof. Ken Goldberg.
Please see the Wiki for instructions on how to install and use lightning: https://sourceforge.net/p/lightningros/wiki/Home/