CoreSense Bringup

Purpose

This module brings up a knowledge base and a behavior tree executor to be used by other coresense modules.

Installation

Manual

git clone https://github.com/CoreSenseEU/coresense_bringup src/coresense_bringup
git clone https://github.com/CoreSenseEU/coresense_understanding_bringup src/coresense_understanding_bringup
git clone --recursive https://github.com/CoreSenseEU/coresense_understanding src/coresense_understanding
git clone https://github.com/CoreSenseEU/coresense_msgs src/coresense_msgs
git clone https://github.com/CoreSenseEU/coresense_vampire src/coresense_vampire
git clone https://github.com/CoreSenseEU/triplestar_kb src/triplestar_kb
#dependencies for coresense_understanding:
sudo apt install -y --no-install-recommends python3-pip ros-jazzy-tinyxml2-vendor ros-jazzy-nlohmann-json-schema-validator-vendor
# dependencies for triplestar_kb:
pip install --user --break-system-packages pydantic pyoxigraph reasonable oxrdflib shapely copier returns
colcon build --symlink-install
source install/setup.bash

Scripts

git clone https://github.com/CoreSenseEU/coresense_bringup src/coresense_bringup
cd coresense_bringup
./install.sh
cd ../triplestar_kb
./install.sh
cd ../..
colcon build --symlink-install
source install/setup.bash

Dependencies

• coresense_msgs
• coresense_vampire
• triplestar_kb

This should work in any ROS2 distribution.