AiiveOS Application Level ROS Package

The application level consists of three types of nodes:

• Ego node
• Instinct node
• Reflex node

Each type of node has a different priority and condition of execution. The structure aims to provide a reliable but flexible system to increase the device's survivability by implementing a state machine familiar for the device user.

Node type definitions

Ego node - normally it is a single node responsible for the execution of the program for the normal device operating mode. The Ego program can consist of many consequently executed concepts.

Instinct node - a node executing a long sequence of actions in a single concept. The purpose of the instinct is to provide an immediate response for a critical situation overriding Ego node control over the device.

Reflex node - this node carries a short simple action(s) in a single concept. Those actions will be executed in parallel to Ego or Instincts.

Node interaction

Interaction between the Ego and Instincts form a state machine:

Meanwhile, Reflexes can occur in parallel and they can take a place in a queue for execution right in the middle of any other action including other reflexes.

Development strategy

A developer should implement their own nodes based on EgoNode, InstinctNode, and ReflexNode classes using available for each class publics methods and implementing class-specific callbacks.

Common for all classes methods:

• start
• send_cmd
• write_to_emotion_core

EgoNode based class

There should be only one Ego node running at the same time.

The developer should implement:

• json-files with command concept descriptions.
• main(self). This method will be executed in the infinite loop right after the node start

Note: instead of time.sleep it is highly recommended to use the wait method

InstinctNode based class

The developer should implement:

• json-files with instinct command concept descriptions.
• callback_perception_concept(self, symbol, modifier) method. This method will be executed when any of the perception concepts is published by the Data-to-Concept Interpreter. It is supposed that the node will be waiting for some specific concept and execute the appropriate command concept.

ReflexNode based class

The developer should implement:

• json-files with Reflex command concept descriptions.
• callback_perception_concept(self, symbol, modifier) method. This method will be executed when any of the perception concepts is published by the Data-to-Concept Interpreter. It is supposed that the node will be waiting for some specific concept and execute the appropriate command concept.

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This repository is part of the AliveOS project.