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dsr_ros

ROS2 License Build

Overview

A ROS 2 stack that contains agents, interfaces and RQT plugins for connecting to CORTEX architecture using a Deep State Representation (DSR) graph.

  • dsr_agents: agents to connect to CORTEX architecture.
  • dsr_bridge: bridge to connect two different DSR graphs through ROS 2.
  • dsr_msgs: messages and services to interact with the DSR agents and ROS.
  • dsr_rqt_plugin: RQT plugin to visualize a Deep State Representation (DSR) graph.
  • dsr_util: utilities to work with DSR graphs.

Cortex

Keywords: ROS2, DSR, RQT

License

Author: Alberto Tudela, José Galeas Merchan, Óscar Pons Fernández

The dsr_ros package has been tested under ROS2 Humble on Ubuntu 22.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

Building

To build from source, clone the latest version of the repository into your colcon workspace and compile the package using the following commands:

cd colcon_workspace/src
git clone https://github.com/grupo-avispa/dsr_ros.git -b humble
cd ../
rosdep install -i --from-path src --rosdistro humble -y
colcon build --symlink-install