HAL is a Hardware Abstraction Layer library that wraps many devices into a protobuf data structure. The code contains:

HAL          -- Contains devices and associated device drivers like cameras, IMUs, GPS, etc.
PbMsgs       -- Standard messages used by sensors, loggers, etc.
URDFParser   -- Constructs data classes for devices, robots, and environments described by URDF files
Applications -- Tools for logging and reading logs.


Feel free to report any bugs or issues at our GitHub portal. You can find us at:
http://github.com/arpg/

Main Developers:
* Juan M. Falquez
* Steven Lovegrove