Please install the base ROS system according to the guide found here.

The beginner ROS tutorials given here cover the basic concepts for communication and the overall structure of a ROS program. Therefore, it is advisable to read them and try out the lessons shown there.

A familiarity with the rosbuild system and writing ROS nodes in C++ and/or Python is mandatory and important for the assignments during the seminar.

The following topics are especially important:

• Understanding ROS nodes
• Understanding Topics
• Understanding ROS Services and Parameters
• Writing a Simple Publisher and Subscriber (C++)
• Writing a Simple Service and Client (C++)
• Creating a ROS package by hand

We have created a git repository for the code that you will develop. You can find it at https://github.com/ai-seminar/group-highlevel and add it to your ROS workspace with

rosws set group_highlevel --git https://github.com/ai-seminar/group-highlevel.git
rosws update
source ~/.bashrc

The installation of the CRAM system (which is the high level plan execution system you will be using) is being done as shown here.

Once you have the system installed, you can check it's functionality by following this tutorial on pick and place. The important part here is that the CRAM system launches successfully and that you get a basic understanding of the terms used in conjunction with it (e.g. what is the REPL, what is Emacs, how to write simple Lisp commands)..

Your task in the seminar will be to create two ROS packages that communicate with each other using the ROS messaging backend. A simplified simulator version will be used as you will concentrate on the communication and data handling aspects of controlling cognitive agents through a ROS interface via CRAM.

In order to get a better understanding of Lisp (and for reference purposes), the following links can support you while getting the grips of it:

• Practical Common Lisp
• Common Lisp HyperSpec