SkiROS2 pyrobosim Library

A warm welcome to the SkiROS2 setup for the problems of the deliberation group ROSCon24 workshop. This repository contains skills and knowledge representation for the started problem. Among the skills are wrapper skills for pyrobosim actions as well as skeletons to solve the problems and their solutions.

SkiROS2 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
• Scalable skill model with pre-, hold- and post-conditions
• A reactive execution engine based on Behavior trees
• A world model as a semantic database to manage environmental knowledge
• Reasoning capabilities and automatic inference of skill parameters
• An integration point for PDDL task planning
• Automatic generation of planning domains based on the skills and entities in the world model
• ROS, RViz and tf integration
• Python APIs for skill handling, the world model and task planning

Getting Started with SkiROS2 as a Whole

• A full introduction and the tutorials are located in the SkiROS2 wiki
• Watch a video from the video section below
• Additionally, the SkiROS2 paper provides an overview and background information

Videos

We have video introductions to the platform with varying lengths. Feel free to choose depending on your time budget. The longer ones always include the content of the short ones.

1min Pitch	5min Short Introduction	20min ROSCon 2023
1min URL	5min URL	ROSCon Talk URL

How to get Started with the pyrobosim Problems

Note 1: For the ROSCon24 workshop, this repository is integrated into a docker container that the workshop organizers have prepared.
You can follow the setup instructions in the workshop repository. Inside this docker container, you can find the SkiROS2 integration in /delib_ws/src/technologies/SkiROS2

Note 2: If you set up the container some days before the workshop, chances are we updated this repository. You can update this repository with the following command executed in your roscon24-workshop repo clone:
git submodule update --init

In this container you can launch SkiROS2 together with pyrobosim with this command:

ros2 launch skiros2_pyrobosim_lib main.launch.py problem_number:=1

This brings up the SkiROS2 interface as well as the pyrobosim world. As a first thing, it is a good browse through the available skills and the world model. You can do this with the SkiROS2 interface or by looking at the files in the skiros2_pyrobosim_lib package.

View Solutions

We include the solutions to all problems in this repository. We assume that you have an interest to solve the problems yourself, but if you're stuck and want to see the robot move, you can load the solution of a given problem with:

ros2 launch skiros2_pyrobosim_lib main.launch.py load_only_solutions:=True problem_number:=1

This loads the set of solution skills that are in skiros2_pyrobosim_lib/solutions.py.

Repository Structure

Below you'll find the structure of this repository.
You can also get it directly from github.com/matthias-mayr/skiros2_pyrobosim_lib

├── README.md  
├── docs ------------------ ### The documents guiding you through 
│   ├── 0_Start.md                      --> Introduction
│   ├── 1_Problem_1_Object_Fetch.md     --> Instructions for Problem 1
│   ├── 2_Problem_2_Waste_Disposal.md
│   ├── 3_Problem_3_Table_Setting.md
│   ├── 4_Problem_4_Table_Waste_Charge.md
│   └── Planning.md                     --> Instructions for planning with SkiROS2
├── launch ---------------- ### Launch file
│   └── main.launch.py                  --> Launch file for SkiROS2 in the workshop
├── owl ------------------- ### Knowledge: scenes and ontology
│   ├── p1_scene.turtle                 --> Scene for problem 1
│   ├── ...
│   └── robi_robot_description.owl      --> Ontology with classes & relations
├── planning -------------- ### PDDL Planning Files
│   ├── problem1.pddl
│   ├── ...
│   ├── skiros.pddl         
│   ├── solutions
│   │   ├── problem1.pddl
│   │   ...
│   │   └── problem4.pddl
│   └── test.pddl
├── scripts ----------------------- ### Helper scripts
│   ├── update_battery_percentage.py    --> Script to update the world model
│   └── yaml_world_to_turtle.py         --> Converts pyrobosim world.yaml to scene.turtle 
└── skiros2_pyrobosim_lib --------- ### All our skills
    ├── problem_1_fetch_item.py         --> Skills for problem 1
    ├── problem_2_waste_and_doors.py    
    ├── problem_3_table_setting.py
    ├── problem_4_charge.py
    ├── pyrobosim_compound_skills.py    --> Skills wrapping pyrobosim primitives
    ├── pyrobosim_primitive_skills.py   --> Skills for interfacing with pyrobosim 
    ├── solutions.py                    --> Don't look here until you're done:-)
    ├── task_planning.py                --> Extra skills to demonstrate task planning
    ├── utils                           --> Utility skills
    │   └── ...
    └── xtra_advanced_skills.py         --> Extra skills to show some features

Let's get Started

Follow this link or just go in the docs folder docs/0_Start.md or view it online on the Github repo if you are reading this file locally.