Skill-based robot control platform for ROS V2.0 (SkiROS2)

SkiROS V2.0 is a platform to create complex robot behaviors by composing skills - modular software blocks - into behavior trees.

Robots coordinated with SkiROS can be used in partially structured environments, where the robot has a good initial understanding of the environment, but it is also expected to find discrepancies, fail using initial plans and react accordingly.

SkiROS offers the following features:

• A framework to organize the robot behaviors within modular skill libraries
• A reactive execution engine based on Behavior trees
• An integration point for PDDL task planning using the "task planning" skill
• A semantic database to manage environmental knowledge

For a full introduction and tutorials refer to the wiki.

Acknowledgements

This platform has been developed at the RVMI lab.

This project has received funding from the European Union’s Horizon 2020 research and innovation programme under grant agreement no. 723658, Scalable4.0.

Compatibility

SkiROS is compatible with Ubuntu 16.04/ROS Kinetic, Ubuntu 18.04/ROS Melodic and Ubuntu 20.04/ROS Noetic, python 2 and 3.

Install

To use SkiROS you must have ROS installed on your machine.
You also need pip to install python dependencies.

Clone this repository into your catkin workspace src directory.

cd /path/to/your/catkin_ws/src
git clone https://github.com/RVMI/skiros2

Clone the base skill set into the skiros2 directory in your catkin workspace.

git clone https://github.com/RVMI/skiros2_std_lib

Optionally, you can clone the skiros2_template_lib or skiros2_examples repositories here as well.

Install dependencies defined in each package.xml using rosdep

rosdep install --from-paths . --ignore-src --rosdistro=$ROS_DISTRO -y

Where $ROS_DISTRO should be defined or replaced with your ROS distro (e.g. melodic).

Install Python dependencies

pip install -r requirements.txt --user

Optionally, if you want to use the task planning skill provided in the standard library, install the fast downward planner with the following script:

cd skiros2/scripts
./install_fd_task_planner.sh

When asked for the install folder, you can insert a location of your preference or just leave the default.

Build with catkin

cd /path/to/your/catkin_ws
catkin_make
source ./devel/setup.bash

Launch

roslaunch skiros2 skiros.launch

Launching the system

See the skiros2_template_lib for a minimal example on how to launch the system (also useful to create a new library from scratch).

See the skiros2_examples for more elaborated examples.

Doxygen documentation

To generate the doxygen documentation, first install Doxygen:

sudo apt-get install -y doxygen

Install doxypypy for better compatibility with python doc-strings:

pip install doxypypy --user

Then, in the top level directory, generate the documentation:

doxygen Doxyfile

Finally, you can view it with for example firefox:

firefox skiros2_doc/html/index.html