A new version of CRAM is out!
Here is what's new since v0.2.0:
- In cram_core, we've got 2 new features together with small nicifications and fixes, no API breakage. Now we have motion designators, which are a new class of designators used to interface with process modules, calling PERFORM on them results in calls to process modules. PERFORMing action designators, on the other hand, now calls other plans. Check out the tutorial for this new feature.
- In cram_3rdparty,
yasonhas been updated to a newer version with no API breakage
- cram_plans got renamed into
cram_common, which seems to be a much more fitting name for the repo. Also,
cram_transforms_stampedgot renamed into
cram_tf, which is shorter. No API breakage except the renamings. There have been important bugfixes in the location costmap functionality, better initialization of
cram_tfvariables, some new utility functions in
cram_robot_interfacesand a new package
cram_commanderto execute CRAM actions over ROS.
- cram_json_prolog got a minor cleanup.
- cram_semantic_maps got renamed into
cram_knowroband there were some bugfixes and updates to support newer KnowRob APIs and the new semantic map of the kitchen.
- cram_3d_world got rid of some unused dependencies, moveit-specific things were moved away into the
cram_pr2repo, household objects were renamed into items to support other domains than human household, new utility functions, nicifications etc.
- in cram_pr2 there have been lots of changes: process module bugfixes, a new cram_motion_manager package to support different motion planners, reachability costmap now supports moveit IK interface, there are new low-level interfaces, designators and plans also available for PR2, etc.
- the rosinstall file for CRAM has been updated to use the newest version.
All the main CRAM repositories now contain a
On the aforementioned repositories, there have been 39 PRs merged, 15 issues solved, and there are currently no PRs or issues open!
Bug reports and requests for new features are as always most welcome.
Our FP7 project, SHERPA, came to an end with a final review between 1st and 3rd March in Davos, Switzerland.
We had the chance to demonstrate our HMI-enabled high-level planing and reasoning in a wide-area rescue scenario, where CRAM was used as a reactive planner and an executive.
The hardware was simulated using the Unreal game engine with a ROS interface and our RoboSherlock perception system took care of the vision.
The demonstration has received very positive feedback from the reviewers and partners. We thank all of the contributors for this successful project!
(Post originally from IAI blog)
There is a new reference manual for the
cram-language ASDF system! Check it our here. More autogenerated API to come.
We have officially switched to CRAM v0.2.1!
Check out the updated Installation Guide to try it out and go through the updated and improved Tutorials to see what's new.
The Migration Guide will help porting your existing code base to comply with the new CRAM version.
The codebase is hosted under cram2 GitHub organization.
The development will continue under the master branch and the (more or less) stable releases will be marked with Tags.
Our bachelor project SUTURO is making excellent progress: The project, partly self-organized by 14 Bachelor students, aims at teaching a PR2 robot to tidy up a kitchen. This involves very challenging tasks in robot perception, manipulation and grasping, task-level coordination and knowledge representation to recognize objects, infer where they shall be put, and interact with them in the appropriate way.
In a recent demonstration, the robot was able to identify the objects in front of it, infer if they are food or not, and sort them into the correct box. This demonstration was based on software developed by researchers at the IAI that has successfully been adapted and integrated by the project participants.
CRAM is being used in this project to manage high level planning and execution tasks, and to connect the abstract high level plans to actual robot control mechanisms.