SAILOR (Symbolic AnchorIng from perceptuaL data for rOs2-based Robots)

Dependencies

• simple_node
• kant
• yolov8_ros
• ros2_asus_xtion (only for demo)

Installation

# repos
$ cd ~/ros2_ws/src
$ git clone https://github.com/MERLIN2-ARCH/sailor
$ pip3 install -r sailor/requirements.txt
$ cd ~/ros2_ws
$ colcon build

Demo

$ ros2 launch sailor_bringup sailor.launch.py

$ ros2 service call /get_objects kant_interfaces/srv/GetPddlObject {}

Citations

@misc{gonzálezsantamarta2023sailor,
      title={SAILOR: Perceptual Anchoring For Robotic Cognitive Architectures}, 
      author={Miguel Á. González-Santamarta and Francisco J. Rodríguez-Lera and Vicente Matellán Olivera},
      year={2023},
      eprint={2303.08204},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}