Skill based system for ROS (SkiROS) standard library from the RVMI lab, Aalborg University Copenhagen, Denmark

www.rvmi.aau.dk(RVMI webpage)

Last readME update: 25/05/2016

Compatibility: Has been tested with Ubuntu 14.04 and ROS Indigo.

The repository is a collection of plugins for the SkiROS system, for more information refer to the SkiROS package readME.

This repository provide SkiROS with a minimal collection of plugins to try out the framework. In particular, it is provided a task planner, a reasoner for spatial relations, a set of fake skills (drive, pick and place) and a fake module to locate objects.

Included (meta)packages

• skiros_std_lib: holds launch file to launch a skiros with fake skills and an example world model. script to install dependencies. (meta-package)
• skiros_lib_modules: holds locate dummy module
• skiros_lib_skill_dummy: holds drive, pick and place, dummy skills
• skiros_lib_reasoner: holds aau spatial reasoner, to reason about poses and sizes
• task_planners: holds fast downward planner implementation
• utils: holds support packages

Dependencies

• skiros core framework
• fast-downward task planner

Install

To install the fast-downward planner, user can run the script "skiros_std_lib/scripts/install_dependencies.sh", specifing the folder of installation (note: this should never change afterwards).

The packages can be compiled using catkin.

Quick start

These plugins can be loaded into the SkiROS framework. To launch the system:

• roslaunch skiros_std_lib skiros_system_fake_skills.launch