dsr_agents

dsr_agents

Overview

This package provides ROS 2 agents designed to facilitate connectivity with the CORTEX architecture through the DSR graph, enabling seamless integration between CORTEX-based systems and the ROS 2 middleware. This functionality simplifies the user's ability to interact with CORTEX-based systems and supports sensor data integration and robot control.

A core feature of the package is a template for creating agents that publish data to the DSR:

• Topic agent: this agent enables the user to subscribe to a generic topic and publish its data in the DSR, supporting the integration of various sensor types into a CORTEX system.

In addition to the generic template, depending on the specific task for which they are implemented, there are specialized agents for data publications in the DSR:

• Docking agent: initiate docking actions directly within the DSR.
• Navigation agent: facilitates the execution of navigation commands from the DSR.
• TF agent: publishes the transformation tree as nodes in the DSR, providing a visual representation of transformations across different reference frames in the CORTEX environment.

Keywords: ROS2, cortex, dsr, deep space representation

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

The dsr_agents 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.

Nodes

topic_agent

Agent that subscribe to a generic topic in ROS 2 and publishes it as a node in the DSR.

Subscribed Topics

• ros_topic

  The name of the topic that the node should subscribe to.

Parameters

• dsr_node_name (string, default: "")

  The name of the node in the DSR where the sensor data should be published.

• dsr_parent_node_name (string, default: "") (Optional)

  String that specifies the name of the parent node in the DSR where the dsr_node_name should be attached to. If left empty, the node will be attached to frame_id from the ROS header message.

docking_agent

Agent that wait until a dock node is created in the DSR and then start the docking process. The dock node must be created with the attribute dock_id that contains the id of the docking station where the robot should dock.

Actions

• dock_robot (opennav_docking_msgs/action/DockRobot)

  Action to send the robot to the docking station.

Parameters

• dsr_action_name (string, default: "")

  The name of the node in the DSR where the action should be listened.

nav_agent

Agent that wait until a move node is created in the DSR and then start the navigation. The move node must be created with the attributes goal_x, goal_y and goal_angle that contains the goal pose for the robot.

Actions

• navigate_to_pose (nav2_msgs/action/NavigateToPose)

  Action to send a navigation goal from the DSR.

Parameters

• dsr_action_name (string, default: "")

  The name of the node in the DSR where the action should be listened.

tf_agent

Agent that publishes the transformations tree as RT nodes in the DSR. This allows the user to have a visual representation of the transformations between different reference frames in their CORTEX system. The frame base_link is replaced by the robot frame in the DSR and the frame map is replaced by the world frame in the DSR.

Subscribed Topics

• tf (tf2_msgs/TFMessage)

  The dynamic transformation tree.

• tf_static (tf2_msgs/TFMessage)

  The static transformation tree.

Parameters (common for all agents)

• agent_name (string, default: "")

  The name of the agent that will be used.

• agent_id (int, default: 0)

  A unique identifier for the agent.

• dsr_input_file (string, default: "") (Optional)

  The path to the DSR file that will be loaded.

• source (string, default: "robot")

  The source of the nodes / edges.