runtime/docs/en/index.md

Robossembler ROS 2 Packages

• env_manager - virtual environment manager:

  • env_manager - manages objects in Gazebo simulation scenes.
  • env_manager_interfaces - ROS 2 interfaces for configuring, loading, activating, and unloading environments.
  • rbs_gym - reinforcement learning module: training management, simulation environment creation, action and observation space handling, utilities.
  • rbs_runtime - runs the main runtime using env_manager.

• rbs_bringup - launch scenarios: simulation, real robot, multi-robot configurations.

• rbs_bt_executor - executes behavior trees with Behavior Tree CPP v4.

• rbs_interface - interface linking behavior trees with skill servers (recommended to merge with rbs_bt_executor).

• rbs_perception - machine vision module with multiple implementations.

• rbs_simulation - simulation models (recommended to merge with env_manager or rbs_gym).

• rbs_skill_interfaces - common interfaces for interacting with skill servers and behavior trees.

• rbs_skill_servers - packages for skill servers (recommended to replace with individual packages for each server).

• rbs_task_planner - task planner based on PDDL.

• rbs_utils - utilities for working with configurations containing grasp positions.

• rbss_objectdetection - skill server for object detection using YOLOv8.