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

Research output: Chapter in Book/Report/Conference proceedingChapter

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.

LanguageEnglish
Title of host publicationRobot Operating System (ROS)
Subtitle of host publicationThe Complete Reference
EditorsAnis Koubaa
PublisherSpringer International Publishing
Pages121-160
Number of pages40
Volume2
ISBN (Electronic)9783319549279
ISBN (Print)9783319549262
DOIs
Publication statusPublished - 2017

Publication series

NameStudies in Computational Intelligence
PublisherSpringer International Publishing
Volume707
ISSN (Print)1860-949X

Fingerprint

Application programs
Robots
Graphical user interfaces
Automotive industry
Demonstrations
Planning

Keywords

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

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Rovida, F., Crosby, M., Holz, D., Polydoros, A. S., Großmann, B., Petrick, R. P. A., & Krüger, V. (2017). SkiROS—A skill-based robot control platform on top of ROS. In A. Koubaa (Ed.), Robot Operating System (ROS): The Complete Reference (Vol. 2, pp. 121-160). (Studies in Computational Intelligence; Vol. 707). Springer International Publishing. https://doi.org/10.1007/978-3-319-54927-9_4
Rovida, Francesco ; Crosby, Matthew ; Holz, Dirk ; Polydoros, Athanasios S. ; Großmann, Bjarne ; Petrick, Ronald P. A. ; Krüger, Volker. / SkiROS—A skill-based robot control platform on top of ROS. Robot Operating System (ROS): The Complete Reference. editor / Anis Koubaa. Vol. 2 Springer International Publishing, 2017. pp. 121-160 (Studies in Computational Intelligence).
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Rovida, F, Crosby, M, Holz, D, Polydoros, AS, Großmann, B, Petrick, RPA & Krüger, V 2017, SkiROS—A skill-based robot control platform on top of ROS. in A Koubaa (ed.), Robot Operating System (ROS): The Complete Reference. vol. 2, Studies in Computational Intelligence, vol. 707, Springer International Publishing, pp. 121-160. https://doi.org/10.1007/978-3-319-54927-9_4

SkiROS—A skill-based robot control platform on top of ROS. / Rovida, Francesco; Crosby, Matthew; Holz, Dirk; Polydoros, Athanasios S.; Großmann, Bjarne; Petrick, Ronald P. A.; Krüger, Volker.

Robot Operating System (ROS): The Complete Reference. ed. / Anis Koubaa. Vol. 2 Springer International Publishing, 2017. p. 121-160 (Studies in Computational Intelligence; Vol. 707).

Research output: Chapter in Book/Report/Conference proceedingChapter

TY - CHAP

T1 - SkiROS—A skill-based robot control platform on top of ROS

AU - Rovida, Francesco

AU - Crosby, Matthew

AU - Holz, Dirk

AU - Polydoros, Athanasios S.

AU - Großmann, Bjarne

AU - Petrick, Ronald P. A.

AU - Krüger, Volker

PY - 2017

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N2 - 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.

AB - 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.

KW - Autonomous robot

KW - Kitting task

KW - Knowledge integration

KW - Planning

KW - Skills

KW - Software engineering

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U2 - 10.1007/978-3-319-54927-9_4

DO - 10.1007/978-3-319-54927-9_4

M3 - Chapter

SN - 9783319549262

VL - 2

T3 - Studies in Computational Intelligence

SP - 121

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BT - Robot Operating System (ROS)

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Rovida F, Crosby M, Holz D, Polydoros AS, Großmann B, Petrick RPA et al. SkiROS—A skill-based robot control platform on top of ROS. In Koubaa A, editor, Robot Operating System (ROS): The Complete Reference. Vol. 2. Springer International Publishing. 2017. p. 121-160. (Studies in Computational Intelligence). https://doi.org/10.1007/978-3-319-54927-9_4