What is RoCS?

RoCS (Robotics and Cognitive Systems) is a framework to support the software development for autonomous robots. The framework is based on the well-known IBM Autonomic Computing reference architecture (also known as MAPE-K).

Why should I use RoCS?

Some important principles what we belive to be advantages of adopting the RoCS framework:

• RoCS intends to be general and multiplatform, forstering reuse across different robot models.
• RoCS core architecture is simple and use few components that communicate through recognized patterns.
• RoCS implements the hybrid robotics paradigm, making possible to use deliberative and reactive behaviors.

Getting Started

Requirements and Dependencies

• VREP
• a c++ compiler
• make and cmake

Setting up

These instructions were tested in Arch Linux, Fedora 23 and MacOS.

• To compile, execute the compile_pioneer_and_robotnik.sh script
• Change the remoteApiConnections.txt file in VREP directory and make sure it has the following lines:

portIndex1_port             = 19997
portIndex1_debug            = false
portIndex1_syncSimTrigger   = true

portIndex2_port             = 19998
portIndex2_debug            = false
portIndex2_syncSimTrigger   = true

• Open VREP and load the scene ./vrep/scene_02.ttt
• Start the simulation pressing the play button
• To execute the code for the Pioneer run ./pioneer_wall_tests/cmake-build-debug/pioneer_xwalk
• To execute the code for the Robotnik run ./robotnik_follow/cmake-build-debug/robotnik_follow

Interested in contributing to RoCS?

Thanks for the interest and please read the Contributing recommendations.

Authors

Leonardo de Oliveira Ramos Gabriel Divino Leonardo Montecchi Breno Bernard Nicolau de França Esther Colombini