ROSCon Talk: 'SkiROS2 - A skill-based Robot Control Platform for ROS'

I had the pleasure to present SkiROS2 at ROSCon. SkiROS2 is an open source and robot-agnostic control platform for ROS. It offers a unique combination of the reactive execution with behaviour trees and knowledge representation to support reasoning. The skill model uses pre-, hold- and post-conditions to monitor and verify the execution. It has a persistent world model based on an RDF graph to model the knowledge that can be used for reasoning and automatic skill parameterization. SkiROS2 has integrated task-level planning capabilities and can automatically create planning domains based on the available skills, the entities and their relations in the world model.

SkiROS2 was mainly developed by Francesco Rovida and Bjarne Grossmann as part of the Scalable 4.0 project. I am happy to have contributed to the project as well and did the ROS 2 port of SkiROS2.

🎥 Video Recording

A video is available on https://vimeo.com/879001825

💻 Code

The SkiROS2 repository is available on GitHub: https://github.com/RobotLabLTH/SkiROS2

📄 Paper

The paper describing SkiROS2 is available on arXiv: https://arxiv.org/abs/2306.17030