CONVINCE SIT-AW-ANCHORING, a semantic anchoring module
SIT-AW-ANCHORING is a ROS 2 based implementation of the semantic anchoring process. Semantic anchoring is a process that integrates numerical data coming from perception with information in digital twin(s) to generate symbolic predicates in a planning language (PDDL, HTN, etc.) for a task planner, which can then compute an action plan for a given goal. It is a crucial process in a robot situation awareness pipeline.
In this documentation we introduce the generic principles of semantic anchoring. Then, we describe how to build and run SIT-AW-ANCHORING. Finally, we provide a tutorial to see SIT-AW-ANCHORING in action in a simple simulated scenario of a robot arm moving cubes.