v1.4.2

Changelog

Enhancements

• Add Kaldi as the default speech recognition engine
• Adds the following maps:
  • German Open Arena
  • Rheinbach
• Add "Find my mates" robocup scenario
  • Add the find people action
  • Add interview person behaviour
  • Add describe person behaviour
• General improvements on "Where is this" scenario
  • Add service requests to topological_map
• move_arm_action
  • Replaced the DMP service call with an API call
  • All DMP parameters are now configurable

Fixes

• General clean up of new robocup scenarios
• Move NLU and speech models to mas_models
• Update dependency to mas_navigation_tools
• Adds dependency to ros_dmp for mas_move_arm_action
• All navigation goals are now lower case to follow convention

v1.4.1

Changelog

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 #137 #85
• Adds an mbot interface for NLU #92
• Adds support for offline speech recognition using Kaldi #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 #147
  • from mas_perception to mas_perception_libs and mas_perception_msgs, see #149
• Adds mdr_door_status from mas_perception #149
• New grasping and placing DMPs have been recorded (suitable for flat surfaces)
• General bug fixes
• Code clean up: #146 #88
• Documentation improvements

SS18

Merge pull request #53 from argenos/fix/broken-dependencies

Fix broken dependencies