Systems developed in MiRon Project
This system is built with Components from the Servicerobotics-Ulm repository, forked and with some bug fixes in ComponenRepository, and the AROSYS ITP, also forked AROSYSComponents.
It is based on the SystemTiagoNavigation system, but incorporates significant changes for managing the skill within the architecture. Modified Components and Behaviors:
- ComponentSkillInterface: The SkillExecutionTask.cc module has been modified for capturing the skill from the ZMQ server and annotate it on the ComponentKB. After updating a skill, the component will poll the ComponentKB for obtaining the associated response (i.e. skill_result).
- BehaviorNavigationScenario.smartTcl: Minor changes for updating a NIL skill and skill_result on the ComponentKB.
- startUp.smartTcl: Relevant changes for polling the ComponentKB and capturing the new skills and manage them, writing on the ComponentKB the resulting skill_results. Currently, only three skills are considered: ACTIVATELOCALIZATION, APPROACHLOCATION, and DEACTIVATELOCALIZATION.
Servicerobotics-Ulm Components:
- ComponentTCLSequencer
- ComponentKB
- SmartCdlServer
- SmartMapperGridMap
- SmartPlannerBreadthFirstSearch
- SmartAmcl
AROSYS Components
- ComponentWebots
- ComponentWebotsLidar
- ComponentWebotsTIAGo