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Nutshell

CRAM serves as a comprehensive toolbox intended for the creation, implementation, and deployment of software on self-governing robots. Within this framework, a variety of tools and libraries are available to facilitate the process of robot software development. This includes features like geometric reasoning and swift simulation mechanisms, which contribute to the formulation of cognition-driven control programs. These programs are designed to bestow a high degree of autonomy upon robots.

Furthermore, CRAM offers introspection tools that empower robots to engage in reflective analysis of their past actions. Through this capability, robots can enhance their performance by independently refining their plans. The associated repository contains all the necessary components for development within the "bullet world," alternatively referred to as "rapid fire projection." Within this simulated environment, robots appear to execute actions with remarkable speed, sometimes resembling teleportation. This is attributed to the utilization of the bullet world, a tool that expedites the creation and testing of new robot plans.

Directory

• cram_3rdparty 3rd party Lisp libraries wrapped into ROS packages.
• cram_bullet_world Bullet physics engine-based and OpenGl offscreen rendering-based reasoning mechanisms.
• cram_interfaces Common libraries and interfaces building on top of CRAM core.
• cram_core Tools and Interfaces for writing Cognition-Enabled Reactive Concurrent Plans.
• cram_demos All of the demos that CRAM official has.
• cram_locations Costmap and Semantic Map for all the locations.
• cram_tutorials Tutorials for: cram-turtorials.