H-ROS API

Each H-ROS robotic module is subject to the following API.

Some capabilities may not be available for certain modules. Consult the documentation of each module for more information (e.g. the modular robot joints)

Level 1: Developers

A developers' oriented API powered by ROS 2.0 and built on top of a standardized information model for robots, the Hardware Robot Information Model (HRIM) that ensures interoperability across manufacturers. The H-ROS API Level 1 consists of 4 elements:

  • ROS2 interface
  • Visualization
  • Simulation
  • Command Line Interface (CLI)

Level 2: Researchers

Aimed for researchers with interest in exploring how Machine Learning can empower robots with additional capabilities. This layer provides a variety of techniques (mainly for Reinforcement Learning and for Supervised Learning) built on top basic primitives powered by TensorFlow. All these techniques connect with the underlying layer that interoperates with ROS. A roboticists' approach to AI.

Level 3: Users

User-oriented this layer aims to provide a simple yet complete set of functions to facilitate the use of robots. We research how AI can be used to enhance traditional path planning techniques and how robots can learn a given task through imitation.