SkiROS2 - A skill-based Robot Control Platform for ROS

Presented at ROSCon 2023 by Matthias Mayr of Lund University.

SkiROS2 is an open source and robot-agnostic control platform for ROS. It offers a unique combination of the reactive execution with behaviour trees and knowledge representation to support reasoning. The skill model uses pre-, hold- and post-conditions to monitor and verify the execution. It has a persistent world model based on an RDF graph to model the knowledge that can be used for reasoning and automatic skill parameterization. SkiROS2 has integrated task-level planning capabilities and can automatically create planning domains based on the available skills, the entities and their relations in the world model.