Release v.1.4.1 #154

argenos · 2019-05-23T13:35:54Z

There are a few reasons to make this PR:

current build is failing (most likely due to Incompatible with mas_domestic's kinetic branch mas_perception#37)
before we merge Adding new robocup scenarios #145 it makes sense to create a release

I'm not sure why Travis is not catching some of these errors when we make the PRs, but I've opened #153 for that.

Changes

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 Add a RASA NLU model for the "Find My Mate" Scenario. #137 Implementing a ros wrapper for rasa #85
Adds an mbot interface for NLU Mbot interface implementation #92
Adds support for offline speech recognition using Kaldi Feature/kaldi speech recognition #127

RoboCup scenarios

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

Refactoring

The dependencies to the following packages have been updated:
- from mas_navigation to mas_navigation_tools, see Change dependency from mas_navigation to mas_navigation_tools #147
- from mas_perception to mas_perception_libs and mas_perception_msgs, see Refactor the perception dependencies #149
Adds mdr_door_status from mas_perception Refactor the perception dependencies #149
New grasping and placing DMPs have been recorded (suitable for flat surfaces)
General bug fixes
Code clean up: Refactor/perception/remove mcr dep #146 Remove outdated question matching approach. #88
Documentation improvements

Related PRs and Issues

This PR closes b-it-bots/mas_perception#37

…the message store

…startup

… KB before new knowledge is added there

This commit removes the outdated question matching approach from 2016. Methods to compare input have been improved since then and can be found in mdr_speech_matching. Further also the content of the README.md file has been removed. Once the new speech recognition and speech processing is set, this needs to be updated.

Remove outdated question matching approach.

…l needs some polishing though)

…to devel

…t and call the correspondent action

Mbot interface implementation

…ents

…n OWL ontology

…subclasses of a class

…t Python package and modified most of the implementations there

…repo

…ow reused

…eused

remove old plane perceive package

The dependencies were substituted by * mas_perception_libs * mas_perception_msgs Related PR: #149

Change dependency from mas_navigation to mas_navigation_tools

Refactor the perception dependencies

[travis] Add sonarcloud addon

mdr_hri/mdr_mbot_interface/package.xml

mdr_hri/mdr_mbot_interface/ros/src/mdr_mbot_interface/mbot_planner.py

.../mdr_actions/mdr_manipulation_actions/mdr_move_arm_action/ros/src/mdr_move_arm_action/dmp.py

mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_pickup_action/ros/scripts/pickup_client

...ns/mdr_navigation_actions/mdr_move_base_action/ros/src/mdr_move_base_action/action_states.py

...dr_perception_actions/mdr_gender_recognition/ros/src/mdr_gender_recognition/action_states.py

mdr_speech/mdr_rasa/CMakeLists.txt

Changes are being addressed in #145 or require their own issue

alex-mitrevski · 2019-05-24T06:04:58Z

FYI, I've updated the PR description so that it describes the changes more accurately and extensively.

argenos · 2019-05-24T06:10:25Z

Sounds good! LGTM!

mas-domestic.rosinstall

henrikschnor and others added 30 commits November 16, 2018 20:33

Implemented a ros wrapper prototype for rasa nlu

3a61d7c

[perceive_plane_client] Fixed an incorrect call to 'delete_named' of …

8d8f03d

…the message store

[rosplan_interface] Added a script for clearing the message store on …

6b44a88

…startup

[perceive_plane_client] Objects are now also deleted from the rosplan…

ce78732

… KB before new knowledge is added there

Merge pull request #88 from PatrickNa/cleanup/mdr_speech

fb778a7

Remove outdated question matching approach.

[pickup_action] Implemented a top grasp strategy (implementation stil…

741d794

…l needs some polishing though)

Merge branch 'devel' of github.com:b-it-bots/mas_domestic_robotics in…

829eeee

…to devel

Moved training to a ROS independent bash script

4a794dd

Added cocktail party model and moved parsing to own function

5456fa8

Mbot interface implemented to process the interpreted output from mbo…

d5fc1fb

…t and call the correspondent action

Merge pull request #92 from ErickKramer/devel

93b8977

Mbot interface implementation

[knowledge_base] Started working on an ontology for domestic environm…

3bca24a

…ents

[knowledge_base] Started working on a component that interacts with a…

860c8dd

…n OWL ontology

[knowledge_base_manager.py] Added methods for getting the parent and …

51af960

…subclasses of a class

[knowledge_base/ontology] Added some generic subclass definitions

56e54e9

[knowledge_base/ontology] Added a few simple geometric properties

4a1f0b6

[knowledge_base/ontology] Added a drawer class

6564581

[knowledge_base] Moved the ontology query manager to a ROS-independen…

d5623df

…t Python package and modified most of the implementations there

[knowledge_base] mv ontology_query_manager -> ontology_query_interface

98a53b3

[knowledge_base] Added an interface for interacting with the KB

5574e43

Modified the action clients so that they use the KB interface

56973ad

[knowledge_base] Moved the ontology and KB interfaces to a dedicated …

2c21ecf

…repo

Added a behaviours package and some common behaviours

d8d4059

[store_groceries] Most of the states are now reused from mdr_behaviours

0cf04fd

[demo_patrol] The move_base state from mdr_navigation_behaviours is n…

da9dac4

…ow reused

[demo_simple_pick_and_place] The states from mdr_behaviours are now r…

ba4a341

…eused

[demo_throw_table_objects] The states from mdr_behaviours are now reused

9e66664

Added mas_knowledge_base and mongodb_store to the rosinstall file

e99ad80

[mdr_behaviours] Added a README

e0659be

minhnh and others added 15 commits May 20, 2019 16:04

remove old plane perceive package

d1c75b6

[mdr_navigation] Update dependency to mas_navigation_tools

838f4a9

Merge pull request #148 from minhnh/refactor/perception/remove_mcr_dep

8f9f58f

remove old plane perceive package

Add mdr_door_status from mas_perception

d2535b5

Update dependencies to mdr_door_status

4a61c95

Update dependencies to mas_perception_msgs

7700b5d

Merge branch 'devel' into refactor/mdr_navigation

0be940b

[rosinstall] Update dependencies

704ba7d

The dependencies were substituted by * mas_perception_libs * mas_perception_msgs Related PR: #149

Merge pull request #147 from argenos/refactor/mdr_navigation

490b30e

Change dependency from mas_navigation to mas_navigation_tools

Merge branch 'devel' into refactor/perception-dependencies

aa4a124

remove unused launch file

e1deb9f

Merge pull request #149 from b-it-bots/refactor/perception-dependencies

ae58c46

Refactor the perception dependencies

[travis] Add sonarcloud addon

3b9b180

Merge pull request #150 from b-it-bots/feature/sonarcloud

b07019f

[travis] Add sonarcloud addon

Add @PatrickNa as code owner

6960b2b

argenos requested review from alex-mitrevski, minhnh and PatrickNa as code owners May 23, 2019 13:35

argenos assigned PatrickNa May 23, 2019

argenos added Type: Enhancement New feature or request Type: Maintenance Changes due to version updates or CI setup labels May 23, 2019

Merge branch 'kinetic' into devel

c912519

minhnh previously requested changes May 23, 2019

View reviewed changes

PatrickNa approved these changes May 24, 2019

View reviewed changes

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argenos requested a review from minhnh May 24, 2019 15:49

minhnh approved these changes May 24, 2019

View reviewed changes

argenos merged commit b2a75ee into kinetic May 24, 2019

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Release v.1.4.1 #154

Release v.1.4.1 #154

argenos commented May 23, 2019 •

edited by alex-mitrevski

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alex-mitrevski commented May 24, 2019

argenos commented May 24, 2019

Release v.1.4.1 #154

Release v.1.4.1 #154

Conversation

argenos commented May 23, 2019 • edited by alex-mitrevski Loading

Changes

Architecture

HRI

RoboCup scenarios

Refactoring

Related PRs and Issues

alex-mitrevski commented May 24, 2019

argenos commented May 24, 2019

argenos commented May 23, 2019 •

edited by alex-mitrevski

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