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@argenos argenos released this 24 May 16:06
· 595 commits to kinetic since this release
1.4.1
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Learn about vigilant mode.

Changelog

Architecture

  • All actions (except for the speech-related ones) are embedded in a fault-tolerant state machine
  • The mdr_behaviours metapackage has been (re)introduced so that scenario states can be easily reused. All existing scenarios have been modified to make use of the behaviours
  • Ontology and knowledge base integration
    • Interfaces to the ontology and knowledge base are hosted in mas_knowledge_base
    • All action clients and behaviours have been modified to interact with the knowledge base through the interface rather than directly. All actions and behaviours can also interact with the ontology through the ontology interface.
    • A basic implementation of a find_object action has been added to illustrate the interaction with the ontology and knowledge base
  • The DMP API has been adapted to the newest upstream version
  • The ROSPlan interface has been improved
    • The interface has been adapted to the upstream version of ROSPlan
    • A default PDDL planning domain has been
    • An interface for interacting with the planner (adding/removing goals and invoking the planner programmatically) has been added
  • An Event monitoring message has been added for the purpose of data annotation

HRI

  • Initial prototype for RASA NLU #137 #85
  • Adds an mbot interface for NLU #92
  • Adds support for offline speech recognition using Kaldi #127

RoboCup scenarios

  • Skeleton implementations for the following RoboCup scenarios have been added:
    • take out the garbage
    • serve drinks

Refactoring

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