COGNITAO_ROS

Decision making system implementation interface and proxy for ROS.

For more information about CogniTAO decision making system see-[https://github.com/cogniteam/cognitao]

• Getting Started
• Integration
• Prerequisites
• RosDataSource
• Contributing ## Getting atarted First, create your own workspace. The next step is to download the project into the src directory. To get a copy of the project up and running on your local machine use Download button.

Clone using :

mkdir -p cognitao_ws/src
cd cognitao_ws/src
git clone "https://github.com/cogniteam/cognitao_ros.git"

Install the CogniTAO library using install.sh script located in[yourWorkspace/src/cognitao_ros].

cd cognitao_ros

//run the install.sh script
./install.sh

The install.sh script: - Downloads the CogniTAO library. - Compiles the project.

After the script is ran the project will be placed in [yourWorkspace/src/cognitao.git].

Integration

To use the CogniTAO library in your workspace add to your project file:

#include <CogniTAO.h>

CMake After writing yout node, dont forget to add to your CMake file the executable file.

# CMakeLists.txt
add_executable(dm_ros_node
      src/main.cpp      
)  

Prerequisites

C++11 support, ROS.

RosDataSource

For the worldM<odel ROS interface- use the RosDataSource when initializing the World Model.

WM::init(new RosDataSource(argc, argv));

The RosDataSource object listens to a topic called "/wme/out". When someone publishes an event to this topic, the RosDataSource gets the message and sets the key-value parameters. To publish via terminal:

rostopic pub /wme/in dm_ros/EventMsg '{key: COIN, value: ENT}'

** Publish COIN event The setVar() method publishes to a topic called "/wme/in". The kind of the messages is EventMsg.

EventMsg: This message has two fields- both sting type. The first field called- key, the second- value.

string key
string value

Contributing

Feel free to contact us at info@cogniteam.com if you wish to contribute code to the library