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What is SkiROS?

The skill-based platform for ROS V2 (SkiROS2) is a software designed to support programming of complex coordination schemes on robots equipped with several sensing and actuation functionalities. As such, SkiROS2 allows the end-user to control the robot by specifying the task to perform, and then acts as a coordinator, scheduler and configuration node that re-configures the existing ROS network nodes and activates\deactivates the available functionalities in order to achieve the specified goal. This can be related to the planning and execution layer of a classical 3-layered robot control architecture.

The robot functionalities that are exposed to the skiros platform are defined as skill primitives, meanwhile the coordination schemes are defined skills.

The skills are applied on objects modelled in the world model and have a clear definition of pre- and post-conditions. It is possible to concatenate them, manually or by mean of a planner, in order to achieve a target state in the world model. This guide briefly presents how to start up the SkiROS system and execute skills.