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To understand the environment, the robot needs not only to perceive it but also to reason on the relationships between the different elements and the evolution of the properties describing the world state. This understanding of what happens around it is key in order for the robot to take appropriate decisions according to the situation. TOASTER (Tracking Of Agents and Spatio-TEmporal Reasoning), is a generic multi-sensor situation assessment framework for human-robot interaction able to maintain a world state, generate symbolic facts, track human motion and maintain a belief state for the robot as well as an estimate of the belief state of its human partners. The framework consists in several components, each with its specific spatial and temporal reasoning.
TOASTER is a framework composed by several ROS modules and based on C++ library: toaster-lib. The goal of TOASTER is to shrink the gap between sensors high-level data output and decision layer. This is done by combining the data concerning 3 entity types: human, robot and object.
This wiki contains a user manual for each component and a brief description.
instructions
scripts for testing
toaster_msgs
toaster_simu
PDG
area_manager
agent_monitor
move3d_facts
belief_manager
database_manager
If you can't find an answer in this wiki, you can open a new issue here, or ask your question at the mailing list toaster-users@laas.fr if you are a user and toaster-dev@laas.fr if you are developing new features or wish to contribute to the TOASTER project.
Install toaster-lib
To install toaster, you need first to install toaster-lib. To do so, go to your installation folder, and do :
> git clone https://github.com/laas/toaster-lib.git
> cd toaster-lib
> mkdir build
> cd build
> cmake ..Note: You may have to specify the boost headers directory, and you may want to specify the prefix for the install path. To do so, you can either use the gui with the command ccmake ... Press "t" key to toggle. Once you finished configuring, quit the cmake gui by generating the files. To do so, press "c" then "g" key. Alternatively you can directly specify this with the command:
> cmake -DCMAKE_INSTALL_PREFIX=MY_INSTALL_PREFIX -DBoost_INCLUDE_DIR=MY_BOOST_INCLUDE_PATH/include ..
> make installAfter installing toaster-lib, you will need to add TOASTERLIB_DIR variable to your env:
> export TOASTERLIB_DIR=MY_INSTALL_PREFIXAlternatively, you may want to put this variable into your .bashrc
Install toaster
Once you installed toaster-lib, you will need to install toaster. To do so, go to your catkin workspace. You may need first to get catkin cmake_module. Then use the following commands :
> cd ${CATKIN_PATH}/src
> git clone https://github.com/laas/toaster.git
> cd ..
> catkin_make