CoreSense Understanding Examples

Purpose

This module supplies examples of engines and usage of the CoreSense Understanding System

Installation

Scripted

git clone https://github.com/CoreSenseEU/coresense_understanding_examples src/coresense_understanding_examples
git clone https://github.com/CoreSenseEU/coresense_understanding_bringup src/coresense_understanding_bringup
git clone https://github.com/CoreSenseEU/decision_system src/decision_system
cd coresense_understanding_bringup
./install.sh
cd ../coresense_understanding
./install.sh
cd ../triplestar_kb
./install.sh
cd ../decision_system
./install.sh
cd ../..
colcon build --symlink-install
source install/setup.bash

Manual

git clone https://github.com/CoreSenseEU/coresense_understanding_examples src/coresense_understanding_examples
git clone https://github.com/CoreSenseEU/coresense_understanding_bringup src/coresense_understanding_bringup
git clone https://github.com/CoreSenseEU/coresense_bringup src/coresense_bringup
git clone https://github.com/CoreSenseEU/decision_system src/decision_system
git clone https://github.com/CoreSenseEU/coresense_bt_controller src/coresense_bt_controller
git clone --branch=parallel_goals https://github.com/alex-quin-gabriel/BehaviorTree.ROS2.git src/BehaviorTree.ROS2
git clone --recursive https://github.com/CoreSenseEU/coresense_understanding src/coresense_understanding
git clone https://github.com/CoreSenseEU/coresense_msgs src/coresense_msgs
git clone https://github.com/CoreSenseEU/coresense_vampire src/coresense_vampire
git clone https://github.com/CoreSenseEU/triplestar_kb src/triplestar_kb
#dependencies for coresense_understanding:
sudo apt install -y --no-install-recommends python3-pip ros-jazzy-tinyxml2-vendor ros-jazzy-nlohmann-json-schema-validator-vendor swi-prolog
# dependencies for triplestar_kb:
pip install --user --break-system-packages pydantic pyoxigraph reasonable oxrdflib shapely copier returns pyswip
colcon build --symlink-install
source install/setup.bash

Dependencies

• tinyxml2_vendor
• nlohmann_json_schema_validator_vendor
• swi-prolog
• pyswig
• BehaviorTree.ROS2
• decision_system
• coresense_understanding
• coresense_bt_controller
• understanding-logic
• coresense_msgs
• coresense_vampire
• triplestar_kb

This should work in any ROS2 distribution.

Usage

1. Run the decision system

ros2 launch coresense_understanding_bringup coresense_decision_system.launch.py

2. Run the bt_controller

ros2 launch coresense_bringup bt_controller.launch.py

3. Run the understanding system

ros2 launch coresense_understanding_bringup coresense_understanding.launch.py

4. Run the example

ros2 run coresense_understanding_examples usage_example_node

Acknowledgement

This work has received funding from the European Union's Horizon Europe research and innovation programme under grant agreement No 101070254 (CORESENSE). Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Commission. Neither the European Union nor the granting authority can be held responsible for them.