dsr_ros

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_bringup: launch files to start the agents.
• 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.

Keywords: ROS2, DSR, RQT

License

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

The dsr_ros package has been tested under ROS2 Jazzy on Ubuntu 24.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

• Robot Operating System (ROS) 2 (middleware for robotics)
• Cortex (DSR library)
• FAST-DDS (eprosima Fast DDS)

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 jazzy
cd ../
rosdep install -i --from-path src --rosdistro jazzy -y
colcon build --symlink-install

Acknowledgements

If you find this research useful, kindly cite the paper:

@Article{electronics20244583,
author = {Galeas, José and Tudela, Alberto and Pons, Óscar and Bandera, Juan Pedro and Bandera, Antonio},
title = {Design of a Cyber-Physical System-of-Systems Architecture for Elderly Care at Home},
journal = {Electronics},
volume = {13},
year = {2024},
number = {23},
article-number = {4583},
url = {https://www.mdpi.com/2079-9292/13/23/4583},
issn = {2079-9292},
doi = {10.3390/electronics13234583}
}