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What is CRAM

CRAM is a toolbox for designing, implementing and deploying software on autonomous robots. The framework provides various tools and libraries for aiding in robot software development as well as geometric reasoning and fast simulation mechanisms to develop cognition-enabled control programs that achieve high lev- els of robot autonomy. CRAM also provides tools for introspection that enable the robots to reason about their past executions and improve by autonomously optimizing their plans.

The core packages of CRAM are implemented in Common Lisp (with a little bit of C/C++) with support to the ROS middleware infrastructure.

Workspace Installation

  • sudo apt install ros-noetic-roslisp-repl
  • sudo apt-get install python-rosinstall python-wstool
  • cd ~/workspace/ros/src
  • wstool init
  • wstool merge https://raw.githubusercontent.com/cram2/cram/noetic/cram-20.04.rosinstall
  • wstool update
  • cd ~/workspace/ros
  • rosdep update
  • rosdep install --ignore-src --from-paths src/ -r
  • catkin_make

For ROS noetic and the current packages, one thing needs to be fixed. The package octomap contains a dependency to a ROS2 package, which can be ignored. Open the package.xml of octomap.

  • roscd octomap

  • sudo nano package.xml Now remove the following line within:

  • <exec_depend condition="$ROS_VERSION == 2">ament_cmake</exec_depend>

Testing & Continuous Integration

If changes are made to the code and a PullRequest results from it, please check the following things:

  • The automatic CI, has to build CRAM succesfully.
  • Is the milestone-demo still running correctly?
  • Are the test still running?
    • New Terminal: roslaunch cram_integration_tests pr2.launch
    • (swank:operate-on-system-for-emacs "cram-integration-tests-pr2" (quote load-op))
    • (roslisp-utilities:startup-ros)
    • (in-package cram-integration-tests
    • (lisp-unit:run-tests)
    • The result should look like this: Test-Summary-IMG

Current State of Demos:

  • PR2
    • Unit-test: all-test [Working]
    • Milestone: setting-demo [Working]
    • Milestone: cleaning-demo [Working]
    • Small-Cutting: bread-cutting-demo [Working]
    • Pouring: WIP
    • Shopping: WIP
    • ...
  • BOXY
    • WIP
  • HSR
    • WIP
  • Donbot
    • WIP

Directory

  • cram_3d_world Bullet physics engine-based and OpenGl offscreen rendering-based reasoning mechanisms.
  • cram_3rdparty 3rd party Lisp liabraries wrapped into ROS packages.
  • cram_boxy Hardware interface for using Boxy robot in CRAM and lightweight simulation.
  • cram_common Common libraries building on top of CRAM core. Including costmap and implementations.
  • cram_core Tools and Interfaces for writing Cognition-Enabled Reactive Concurrent Plans.
  • cram_json_prolog ROS JSON Prolog client implementation in Lisp: sending Prolog queries in JSON format over ROS.
  • cram_knowrob Libraries for using knowrob in Lisp.
  • cram_pr2 CRAM packages related to the PR2, e.g. process modules, costmaps and lightweight simulation of PR2 robot. Also, fetch and deliver plans for PR2 robot.
  • cram_roboserlock Interface for communicating with RoboSherlock from CRAM.
  • cram_tutorials Tutorials for: cram-turtorials.