This is part of the e-MDB architecture documentation. Main page here.

e-MDB core components

This is the repository that contains the packages that form the core of the software implementation of the e-MDB cognitive architecture developed under the PILLAR Robots project. This includes the base classes for the Execution Nodes, Cognitive Nodes and the Long-Term Memory. Additionally, this repository includes helper modules and dummy node implementations.

This repository is dedicated to store the execution middleware (commander node + execution node) and the Long-Term Memory development. There are three ROS2 packages:

• core: Implementation for the commander node, the execution node, the long-term memory, and the base implementation for all the cognitive nodes.

• core_interfaces: Needed services and messages definitions.

• dummy_nodes: Minimum implementation for each cognitive node. The idea is to have cognitive nodes as barebones as possible to run experiments where we only want to focus on a specific cognitive node variation / algorithm. In these cases, we want to reduce the remaining part of the cognitive architecture to a minimum functional set of elements, to avoid interferences when studying a specific change in a given cognitive node.

There are four sections in this documentation:

• Concepts: Theoretical aspects of the core elements of the architecture and its software design.

• Core API documentation: Documentation of the ROS2 interface of the core components, including services and topics.

• Dummy nodes API documentation: Documentation of the dummy nodes, which are minimal implementations of the cognitive nodes.

• Auxiliary scripts API documentation: Documentation of the auxiliary scripts that are used in the core components.