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An overview of the skiros architecture. The robot presents an external interface to specify the scene and receive a goal. Internally, the task manager dispatch the generated plans to the skill managers in each subsystem of the robot. A skill manager expand the plan in a tree structure and schedule the execution to the primitive manager, which link the abstract pointers to the concrete implementations. The world model is the focal point of the system: all knowledge is collected and shared through it.

Skill-based system for ROS (SkiROS) is a robotic framework for industrial robots, that allows to develop cognitive behaviours organized in macro structures, 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.

For documentation of the API of SkiROS, have a look at the SkiROS doxygen documentation.

SkiROS should be installed first, see the Installation guide.

The SkiROS system consist of three shells running the main nodes (task manager, skill manager and world model) and a Graphical User Interface.

The system can be completely controlled and monitored from the GUI.

For more specific guides refer to:

• SkiROS development
  • Develop plugins
  • System configuration
  • Ontology editing
• System launch
• SkiROS GUI