SkiROS—A skill-based robot control platform on top of ROS

Francesco Rovida*, Matthew Crosby, Dirk Holz, Athanasios S. Polydoros, Bjarne Großmann, Ronald P.A. Petrick, Volker Krüger

*Corresponding author for this work

Research output: Contribution to book/anthology/report/conference proceedingBook chapterResearchpeer-review

28 Citations (Scopus)

Abstract

The development of cognitive robots in ROS still lacks the support of some key components: a knowledge integration framework and a framework for autonomous mission execution. In this research chapter, we will discuss our skill-based platform SkiROS, that was developed on top of ROS in order to organize robot knowledge and its behavior. We will show how SkiROS offers the possibility to integrate different functionalities in form of skill ‘apps’ and how SkiROS offers services for integrating these skill-apps into a consistent workspace. Furthermore, we will show how these skill-apps can be automatically executed based on autonomous, goal-directed task planning. SkiROS helps the developers to program and port their high-level code over a heterogeneous range of robots, meanwhile the minimal Graphical User Interface (GUI) allows non-expert users to start and supervise the execution. As an application example, we present how SkiROS was used to vertically integrate a robot into the manufacturing system of PSA Peugeot-Citroën. We will discuss the characteristics of the SkiROS architecture which makes it not limited to the automotive industry but flexible enough to be used in other application areas as well. SkiROS has been developed on Ubuntu 14.04 LTS and ROS indigo and it can be downloaded at https://github.com/frovida/skiros. A demonstration video is also available at https://youtu.be/mo7UbwXW5W0.

Original languageEnglish
Title of host publicationRobot Operating System (ROS) : The Complete Reference
EditorsAnis Koubaa
Number of pages40
Volume2
PublisherSpringer VS
Publication date1 May 2017
Pages121-160
ISBN (Print)978-3-319-54926-2
ISBN (Electronic)978-3-319-54927-9
DOIs
Publication statusPublished - 1 May 2017
SeriesStudies in Computational Intelligence
Volume707
ISSN1860-949X

Keywords

  • Autonomous robot
  • Kitting task
  • Knowledge integration
  • Planning
  • Skills
  • Software engineering

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