temoto_context_manager

TeMoto Context Manager hosts an Environment Model Repository (ERM), which is used to store relations with world objects. The ERM is shared and synchronized with multiple instances of Context Manager, thus enabling the robots to share knowledge about the surrounding environment.

Installation

cd catkin_ws/src
git clone https://github.com/temoto-framework/temoto_context_manager
cd ..
catkin build

Examples

First launch the visualization setup that brings up:

• Context Manager, which hosts the ERM
• ERM marker publisher, which publishes visualization_msgs::Marker messages
• RViz, which displays the visualization markers

roslaunch temoto_context_manager emr_item_visualizer.launch

Next, add some items (table, chair, bottle) to the EMR via:

rosrun temoto_context_manager emr_item_setter_example

You should see this rather modest scene in RViz:

And also the contents of EMR are available via TFs: