[{"_1":2,"_190":-5,"_191":-5},"loaderData",{"_3":4,"_13":14,"_21":22,"_165":166},"root",{"_5":-5,"_6":-7,"_7":8,"_9":-7,"_10":11,"_12":-7},"currentUser","primaryEmail","siteVerification","6LeIxAcTAAAAAJcZVRqyHh71UMIEGNQ_MXjiZKhI","toast","enableDev",false,"incidentStatus","routes/_layout",{"_15":-5,"_16":17,"_18":17,"_19":11,"_20":11},"username","isAskGordonEnabled",true,"isUsingNewTemplate","showMinimalLanding","showHoneypotTrap","routes/_layout.r.$namespace.$reponame",{"_23":24,"_25":-5,"_26":11,"_27":11,"_28":29,"_30":31,"_32":-5,"_33":11,"_34":35,"_85":86,"_108":109,"_156":-5,"_157":11,"_158":17,"_159":11,"_160":-5,"_161":11,"_162":-5,"_163":164},"canonicalUrl","https://hub.docker.com/r/pstlab/roxanne/tags","mcpServer","canSeeDockerfile","canSeeAutobuilds","namespace","pstlab","reponame","roxanne","cloudBuildSource","isAutobuildsAvailable","repo",{"_36":37,"_38":39,"_41":42,"_43":44,"_45":11,"_46":47,"_48":49,"_50":51,"_53":31,"_28":29,"_54":55,"_56":40,"_57":58,"_59":58,"_60":61,"_62":-5,"_63":64,"_65":66,"_67":11,"_68":69,"_70":71,"_76":11,"_77":78,"_82":29,"_83":84},"categories",[],"content_types",[40],"image","date_registered","2021-05-07T19:00:30.09846Z","description","ROs fleXible ActiNg coNtrollEr","is_private","last_updated","2023-02-16T10:02:46.026683Z","last_modified","2024-10-16T13:48:34.145251Z","media_types",[52],"application/vnd.docker.container.image.v1+json","name","pull_count",950,"repository_type","star_count",1,"status","status_description","active","source","collaborator_count",0,"full_description","## ROXANNE | ROSJava Package\n\n**ROXANNE** (ROs fleXible ActiNg coNtrollEr) is an **FTP ROSIN project** developing **ROS** packages that facilitate the integration of Artificial Intelligence planning and execution capabilities with robotic platforms. ROXANNE specifically supports the development of timeline-based goal-oriented architectures in ROS. The project aim at integrating of timeline-based planning and execution technologies with “standard” robot control techniques to enhance robustness and flexibility of robot behaviors when dealing with uncontrollable dynamics of an environment or other “external” and concurrent agents like e.g., human operators in Human-Robot Collaboration (HRC) scenarios.\n\n## Fundings\n\nROXANNE has received funding from the European Union’s Horizon 2020 research and innovation programme under the project ROSIN with the gran agreement No 732287.\n\n\n## Objectives\n\n**ROXANNE** aims at creating a ROS compliatn framework facilitating the use of timeline-based planning and execution capabilities in industrial settings. Target users are either researchers and manufacturing companies that want to evaluate flexible task-level controllers to better support production processes. The objectives of the project are thus the following:\n\n- **Facilitate industrial robot programming** by providing a general-purpose specification language to model operational and temporal constraints of production processes and the dynamics of working environment, human operators and robot behaviors.\n- Realize a **ROS-integrated goal-oriented planning and execution system** capable of autonomously synthesize the set of tasks a robot must perform to achieve production goals. Minimize production interruptions by dynamically coordinating and adapting robot behaviors by taking into account uncontrollable dynamics of a working environment.\n- Preovide process-driven modeling and robot-agnostic control capabilities to support **interoperability and integration with different robotic platforms**.\n- Define an interoperability communication protocol characterizing events and information exchanged within the life-cycle of a dynamic task planning system. Such a protocol defines services and dependencies that are necessary for the effective integration of the task planner with robot controllers and realize an autonomous robot architecture.\n- Enable and **facilitate the use of timeline-based control techniques** in real-world production contexts by leveraging a standard platform like ROS and an existing timeline-based framework called [**PLATINUm**](https://github.com/pstlab/PLATINUm)\n\n## Docker Image\n\nThis docker image contains a ROS Melodic distribution with a ready-to-use installation of ROXANNE. The ROSjava Packages are installed into a ROS workspace under ```/root/ws```. \n\nIn order to successfully compile the package and download the latest version of underlying PLATINUm dependencies please add your **GitHub user** and **GitHub personal access token** into the file ```gradle.properties``` that can be found under ```/root/ws/src/roxanne_rosjava``` (see the section **Gradle Configuration**).\n\n_Note that it could be necessary to explicitly start the mongod service on the docker. Run the script under ```/root/bin/start_mongo``` if necessary_\n\nNext sections explain the installation process of **ROXANNE** from a clean **ROS Melodic workspace**. See the section **Package Usage** for some instructions about how to run and interact with a ROXANNE acting node. \n\n## ROS Installation\n\nThe package has been developed and tested for **ROS Melodic** distribution on **Ubunut 18.04**. It requires a ROSJava workspace for correct execution and generation of the Java artifacts needed for custom messages and installed Java software.\n\n_We recommend the use of Java 8 since other higher or lower versions of Java may have some dependency issues with rosjava. Alternative versions of Java can be installed using the following command:_ \n\n```sudo update-alternatives --config java```\n\nIn addition, the package requires an installed locally running instance of **MongoDB server** (the current package has been developed and tested using [_MongDB Cumminuty Server v.4.4.5_](https://www.mongodb.com/try/download/community)). \n\n### ROSJava Workspace Configuration\n\nCreate an empty workspace.\n\n```\nmkdir -p ~/ws/src\ncd ~/ws\ncatkin_make\n```\n\nHere are the instructions for downloading and building **ROSJava from source** (recommended). Please refer to the official [ROSJava Wiki](http://wiki.ros.org/rosjava) for further details about installation and availabe distributions.\n\n```\nwstool init -j4 ~/ws/src https://raw.githubusercontent.com/rosjava/rosjava/kinetic/rosjava.rosinstall\nsource /opt/ros/melodic/setup.bash\ncd ~/ws\nrosdep update\nrosdep install --from-paths src -i -y\ncatkin_make\n```\nNote that one of the dependecies of **rosjava_messages** package is [world_canvas_msgs](http://wiki.ros.org/world_canvas_msgs) which is not supported by ROS Melodic. To successfully build **rosjava** thus remove this dependency by editing the file ```package.xml``` of ```rosjava_messages``` and commenting the following line\n\n```\nworld_canvas_msgs\n```\n\n### Package preparation\n\nOnce that a ROSJava workspace has been successfully configured everything is ready for the installation of the **roxanne_rosjava package**. \n\nFirst, it is necessary to install the ROSjava package **roxanne_rosjava_msgs** defining custom messages and services. This package is available on GitHub (https://github.com/pstlab/roxanne_rosjava_msgs.git) and can be installed into the ROSJava workspace as follows: \n\n```\ncd ~/ws/src\ngit clone https://github.com/pstlab/roxanne_rosjava_msgs.git\ncd ~/ws\ncatkin_make\nsource ~/ws/devel/setup.bash\n```\n\nIt is possible to verify the successful built of the package by checking ROS service description through ```rossrv show```. For example the following commands\n\n```\ncd ~/ws\nsource devel/setup.bash\nrossrv show rossrv show roxanne_rosjava_msgs/DeliberativeService\n```\nshould give the following output which describes the request and response defined for the service **DeliberativeService**\n\n```\nstring ddl\nstring pdl\n---\nuint8 result\nroxanne_rosjava_msgs/Timeline[] timelines\n int64 id\n string component\n roxanne_rosjava_msgs/Token[] tokens\n int64 id\n string component\n string predicate\n string[] parameters\n int64[] start\n int64[] end\n int64[] duration\n```\n\n### Gradle Configuration\n\nBefore buliding the ROS package configure **gradle** so that all the dependencies are correctly downloaded. This module indeed relies on some packages (e.g., [PLATINUm](https://github.com/pstlab/PLATINUm)) that are not deployed on maven central but on GitHub. \n\nTo allow gradle to download packages from GitHub repositories create a text file ```gradle.properties``` under ```roxanne_rosjava```. This file should specifiy a **GitHub username** and a **GitHub access token** as follows: \n\n```\ngpr.user=\ngpr.token=\n```\nSee how to create personal access token on [the official GitHub page](https://docs.github.com/en/github/authenticating-to-github/creating-a-personal-access-token) if necessary). Be sure to select the scope ```read:packages``` when creating the personal access token in order to successfully read GitHub packages.\n\nAs alternative to the file ```gradle.properties``` the same configuration parameters can be specified using environment variables. For example add to ```.bashrc``` the definition of the following variables:\n\n```\nexport GITHUB_USER=\nexport GITHUB_TOKEN=\n```\n\n### Bulding the Package\n\nAt this point install the **roxanne_rosjava package** into the ROSJava workspace by cloning and installing the current repository.\n\n```\ncd ~/ws/src\ngit clone https://github.com/pstlab/roxanne_rosjava.git\ncd ..\nsource devel/setup.bash\ncatkin_make\nsource devel/setup.bash\n```\n\nTo finalize the installation just define the environment variable **PLATINUM_HOME** in order to point to the folder containing the installed package. This would tell the underlying reasoning framework where to find the configuration files (see the content of the ```etc``` of the package).\n\n```\nexport PLATINUM_HOME=/src/roxanne_rosjava\n```\n\nThe above line of code can be added to the ```.bashrc``` file to automatically export the environment variable when the terminal is open. \n\n## Package Usage \n\nIf the the installation and configuration of the **roxanne_rosjava** package has been successfully done then it should be possible to run the ROS node starting the **goal-oriented agent** for continuous planning and execution.\n\nFirst open a terminal and start core ROS nodes using ```roscore```. \n\nThen, open a different terminal and launch the acting node as follows:\n\n```\ncd ~/ws\nsource devel/setup.bash\nrosrun roxanne_rosjava roxanne_rosjava_taskplanner com.github.roxanne_rosjava.roxanne_rosjava_taskplanner.ActingNode\n```\n\nAt this point the acting node is running and can be initialized on a specific timeline-based model using the service ``` roxanne_rosjava_msgs/ActingConfigurationService```. Run the following command in a new terminal.\n\n```\ncd ~/ws\nsource devel/setup.bash\nrosservice call /roxanne/acting/configuration \"configFilePath: '/src/roxanne_rosjava/etc/agent.properties'\"\n```\n\nThe above command initializes the acting agent using a sample configuration file that can be found under the folder ```etc``` of the package.\n\nIf the agent is successfully initialized then send a planning and execution request to the agent by posting a dedicated message on the input topic ```/roxanne/acting/goal```.\n\n```\nrostopic pub --once /roxanne/acting/goal roxanne_rosjava_msgs/ActingGoal \"goalId: 0\ngoals:\n- id: 0\n component: 'Goal'\n predicate: 'DoSomething'\n parameters: []\n start: [0, 100]\n end: [0, 100]\n duration: [1, 100]\nfacts:\n- id: 0\n component: 'Acting'\n predicate: 'Idle'\n parameters: []\n start: [0, 0]\n end: [0, 100]\n duration: [1, 100]\"\n```\n\nThe terminal of the acting node should display information about the lifecycle of the request within the acting agent. After few seconds it shows a textual description of the synthesized plan and starts its execution.\n\nThe file ```etc/platform/roxanne_platform.xml``` specifies the topics used to dispatch commands, receive feedback and the types of messge exchanged over such topics. \n\n````\n\n\n \n\n \n\n \n\n \n\n \n\n \n\n \n\n````\n\nThis configuration is the default expected when using **ROXANNE**. However, the framework allows users to specify different combinations of topics and messages. In such cases it would be necessary to develop custom Java delegates responsible for \"marshaling/umarshaling\" the specific message formats\n\n\n## Additional resources\n\nCheck the wiki or visit [ROXANNE | ROSJava Website](https://pstlab.github.io/roxanne_rosjava/) for more details.","has_starred","hub_user","anacleto","immutable_tags_settings",{"_72":11,"_73":74},"enabled","rules",[75],".*","is_automated","permissions",{"_79":17,"_80":11,"_81":11},"read","write","admin","user","storage_size",3105885327,"orgData",{"_87":88,"_89":90,"_91":92,"_93":29,"_94":95,"_96":97,"_98":99,"_100":101,"_102":103,"_104":101,"_105":101,"_106":101,"_107":17},"id","199c8b28408c4ef5844f20c4146763f9","uuid","199c8b28-408c-4ef5-844f-20c4146763f9","type","organization","orgname","full_name","Planning and Scheduling Technology Laboratory","location","Rome","company","CNR - Institute of Cognitive Sciences and Technologies ","profile_url","","date_joined","2021-05-07T18:52:46.008052Z","gravatar_url","gravatar_email","badge","is_active","recentTags",[110,146],{"_111":40,"_112":113,"_114":115,"_87":116,"_117":118,"_46":135,"_136":113,"_137":69,"_138":52,"_53":139,"_140":141,"_142":126,"_143":135,"_144":61,"_145":17},"content_type","creator",12834420,"full_size",1595725173,148882728,"images",[119],{"_120":121,"_122":123,"_124":101,"_125":126,"_127":128,"_129":130,"_131":101,"_132":-5,"_133":115,"_59":61,"_134":-5},"architecture","amd64","digest","sha256:2456c702c0a2864ea0912513d4b2e5b26b06093a303062066438ffa0f7846170","features","last_pulled","2026-09-21T23:22:09.971545165Z","last_pushed","2021-05-08T11:24:13Z","os","linux","os_features","os_version","size","variant","2021-05-08T11:24:12.742089Z","last_updater","last_updater_username","media_type","latest","repository",13215640,"tag_last_pulled","tag_last_pushed","tag_status","v2",{"_111":40,"_112":113,"_122":147,"_114":148,"_87":149,"_117":150,"_46":154,"_136":113,"_137":69,"_138":52,"_53":155,"_140":141,"_142":152,"_143":154,"_144":61,"_145":17},"sha256:ecf3fcd4412771cccaa531105b7194732a6b4e2100b3239ee7d5c60c3e43245f",1979395102,375283669,[151],{"_120":121,"_122":147,"_124":101,"_125":152,"_127":153,"_129":130,"_131":101,"_132":-5,"_133":148,"_59":61,"_134":-5},"2026-09-11T06:14:19.88462683Z","2023-02-16T10:02:46Z","2023-02-16T10:02:45.89011Z","tiago","sbxKitMetadata","isPotentialSpam","isHubSbxKitsEnabled","showSbxLogoOverride","sbxTrademarkText","displaySecurityMetadata","tagAttestations","tagsHaveAttestations",[],"routes/_layout.r.$namespace.$reponame.tags",{"_34":167,"_174":175,"_163":188,"_189":11},{"_36":168,"_38":169,"_41":42,"_43":44,"_45":11,"_46":47,"_48":49,"_50":170,"_53":31,"_28":29,"_54":55,"_56":40,"_57":58,"_59":58,"_60":61,"_62":-5,"_63":64,"_65":66,"_67":11,"_68":69,"_70":171,"_76":11,"_77":173,"_82":29,"_83":84},[],[40],[52],{"_72":11,"_73":172},[75],{"_79":17,"_80":11,"_81":11},"tags",{"_176":177,"_178":-5,"_179":-5,"_180":181},"count",2,"next","previous","results",[182,185],{"_111":40,"_112":113,"_122":147,"_114":148,"_87":149,"_117":183,"_46":154,"_136":113,"_137":69,"_138":52,"_53":155,"_140":141,"_142":152,"_143":154,"_144":61,"_145":17},[184],{"_120":121,"_122":147,"_124":101,"_125":152,"_127":153,"_129":130,"_131":101,"_132":-5,"_133":148,"_59":61,"_134":-5},{"_111":40,"_112":113,"_114":115,"_87":116,"_117":186,"_46":135,"_136":113,"_137":69,"_138":52,"_53":139,"_140":141,"_142":126,"_143":135,"_144":61,"_145":17},[187],{"_120":121,"_122":123,"_124":101,"_125":126,"_127":128,"_129":130,"_131":101,"_132":-5,"_133":115,"_59":61,"_134":-5},[],"canDeleteTags","actionData","errors"]

pstlab/roxanne

Tags for pstlab/roxanne