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### What is SkiROS?
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The *skill-based platform for ROS V2 (SkiROS2)* is a software designed to support programming of complex coordination schemes on robots equipped with several sensing and actuation functionalities. As such, SkiROS2 allows the end-user to control the robot by specifying the task to perform, and then acts as a coordinator, scheduler and configuration node that re-configures the existing ROS network nodes and activates\deactivates the available functionalities in order to achieve the specified goal. This can be related to the planning and execution layer of a classical 3-layered robot control architecture.
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The robot functionalities that are exposed to the skiros platform are defined as *skill primitives*, meanwhile the coordination schemes are defined *skills*.
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The skills are applied on objects modelled in the world model and have a clear definition of pre- and post-conditions. It is possible to concatenate them, manually or by mean of a planner, in order to achieve a target state in the world model.
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This guide briefly presents how to start up the SkiROS system and execute skills. |
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