This software is the new infrastructure that will help in the creation of CORTEX instances. A CORTEX instance is a set of software components, called agents, that share a distributed data structured called (G)raph playing the role of a working memory. Agents are C++ programs that can be generated using RoboComp's code generator, robocompdsl. Agents are created with an instance of the FastRTPS middleware (by eProsima) configured in reliable multicast mode. A standard graph data structure is defined using FastRTPS's IDL and converted into a C++ class that is part of the agent's core. This class is extended using the delta mutators CRDT code kindly provided by Carlos Baquero. With this added functionality, all the copies of G held by the participating agents acquire the property of eventual consistency. This property entails that all copies, being different at any given moment, will converge to the exact same state in a finite amount of time, after all agents stop editing the graph. With delta mutators, modifications made to G by an agent are propagated to all others and integrated in their respective copies. This occurs even if the network cannot guarantee that each packet is delivered exactly once, causal broadcast. Note that if operations on the graph were transmitted instead of changes in state, then exactly once semantics would be needed. Finally, the resulting local graph G is used by the developer through a carefully designed thread safe API, G_API.
P. Bustos García, L. Manso Argüelles, A. J. Bandera, J. P. Bandera, I. García-Varea, and J. Martínez-Gómez, «The CORTEX cognitive robotics architecture: Use cases,» Cognitive Systems Research, vol. 55, pp. 107-123, 2019. https://robolab.unex.es/wp-content/plugins/papercite/pdf/luis-pablo-cortex.pdf
P. Núñez Trujillo, L. J. Manso Argüelles, P. Bustos García, P. Drews-Jr, and D. G. Macharet, «A Proposal for the Design of a Semantic Social Path Planner using CORTEX ˜,» in Workshop of Physical Agents 2016, Málaga, Spain, 2016. https://robolab.unex.es/wp-content/plugins/papercite/pdf/proposal-design-semantic.pdf
L. V. Calderita Estévez and P. Bustos García, «Deep State Representation: an Unified Internal Representation for the Robotics Cognitive Architecture CORTEX,» PhD Thesis, ., 2015. https://robolab.unex.es/wp-content/plugins/papercite/pdf/deep-state-representation.pdf
P. Bustos García, L. Manso Argüelles, A. J. Bandera, J. P. Bandera, I. García-Varea, and J. Martínez-Gómez, «The CORTEX cognitive robotics architecture: Use cases,» Cognitive Systems Research, vol. 55, pp. 107-123, 2019. https://robolab.unex.es/wp-content/plugins/papercite/pdf/luis-pablo-cortex.pdf
P. Bustos García, L. J. Manso Argüelles, A. Bandera, J. P. Bandera, I. García-Varea, and J. Martínez-Gómez, «CORTEX: a new Cognitive Architecture for Social Robots,» in EUCognition Meeting – Cognitive Robot Architectures, Viena, 2016. https://robolab.unex.es/wp-content/plugins/papercite/pdf/cortex-new-cognitive-architecture.pdf
Paulo Sérgio Almeida, Ali Shoker, Carlos Baquero, «Delta State Replicated Data Types» Journal of Parallel and Distributed Computing, Volume 111, January 2018, Pages 162-173 https://arxiv.org/abs/1603.01529
The Figure below shows an artist view of a CORTEX instantiation.
-
CORTEX, a Robotics Cognitive Architecture based on the idea of a set of software modules sharing a common representation or working memory.
-
G, a distributed graph used as the CORTEX working memory. It exists as the set of local copies held by all the participating components in a CORTEX configuration
-
DSR Agent (DA), is a C++ RoboComp component extended with the functionality to edit the distributed graph G.
-
Node, a vertex of the graph G.
-
Edge, a directional edge connecting to nodes. Edges can have attributes.
-
All nodes and edges have type. The list of possible types is shown below.
-
Attribute, a property of a node or an edge. Attributes can be of any of these types
- string
- int (signed 32)
- float
- vector
- bool
- in V1.1 vector All attributes have a name and in V1.1 will hava a timestamp with the last modification time
-
Attributes' names must be taken from a predefined list of tokens with types, for example ('name', string)('pos_x', float). A complete lists is provided below.
-
RT edges are edges of type RT that code a geometric relation between two nodes. RT edges have two atributes rotation_euler_xyz and translation that hold the euler angles and translation coordinates of the R|t 4x4 matrix that represents a rotation followed by a translation pose of the child with respect to the parent's reference frame. There are methods in the G-API to directly recover the Rt matrix from the edge as a RoboComp RTMat.
-
There is a singular node in G named, "world", that representes the origin of the current reference frame for the robot. This node is the root of a kinematic tree linked by RT edges. This tree is embedded in G and represent the set of physical elements believed to exist in the world. This tree is called innermodel and can be automatically drawn in 3D using OpenSceneGraph and in 2D using Qt. Both representation are included in the UI off all generated agents.
-
An agent generated with robocompdsl includes the object G that can be accessed using its public API
From ubuntu repositories you need:
sudo apt install libasio-dev
sudo apt install libtinyxml2-dev
sudo apt install libopencv-dev
sudo apt install libqglviewer-dev-qt5You need the following third-party software:
-
CoppeliaSim. Follow the instructions in their site: https://www.coppeliarobotics.com/ and make sure you choose the latest EDU version
-
cppitertools
sudo git clone https://github.com/ryanhaining/cppitertools /usr/local/include/cppitertools- gcc >= 9
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo apt update
sudo apt install gcc-9(you might want to update the default version: https://stackoverflow.com/questions/7832892/how-to-change-the-default-gcc-compiler-in-ubuntu)
- Fast-RTPS (aka Fast-DDS) from https://www.eprosima.com/. Follow these steps:
mkdir software
cd software
git clone https://github.com/eProsima/Fast-CDR.git
mkdir Fast-CDR/build
cd Fast-CDR/build
export MAKEFLAGS=-j$(($(grep -c ^processor /proc/cpuinfo) - 0))
cmake ..
cmake --build .
sudo make install
cd ~/software
git clone https://github.com/eProsima/foonathan_memory_vendor.git
cd foonathan_memory_vendor
mkdir build
cd build
cmake ..
cmake --build .
sudo make install
cd ~/software
git clone https://github.com/eProsima/Fast-DDS.git
mkdir Fast-DDS/build
cd Fast-DDS/build
cmake ..
cmake --build .
sudo make install
sudo ldconfigIt's assumed that you have already installed .
You must this (dsr-graph) repository in ~/robocomp/components/
cd ~/robocomp/components/
git clone https://github.com/robocomp/dsr-graph/
cd dsr-graph/components/Note: To be able to build social_navigation component you need to install
sudo apt install libfclib-devAnd rebuild robocomp core with fcl support:
cd ~/robocomp/build
cmake -D FCL_SUPPORT=1 ..
make
sudo make installWe are working on an initial use-case that involves RoboLab's adapted aparment ALab, the mobile manipulator Viriato and a few agents and components.
To start the basic configuration for this use case:
- Execute rcnode in a free terminal to initiate ZeroC Ice pub/sub broker.
- Execute ViriatoPyrep (Python3) You should have installed first CoppeliaRobotics simulator. Then follow the instructions in ViriatoPyrep's README.md
- Compile and run idserver
- Compile and run viriatoDSR
If you have a JoyStick, you can clone robocomp-robolab under ~/robocomp/components and go to components/hardware/external_control/joystickPub. Compile the component and run it. You'll see the robot moving in the simulator. You can change the name and ranges of axes in the configuration file.