Description
CROSPI is an open-source software framework designed to create advanced reactive robotic behaviors. Developed by the Robotics Research Team at KU Leuven, it allows users to define constraints in a high-level interpreted language called eTaSL, which is based on LUA. This enables the development of smart and reactive robot behaviors using multisensory inputs.
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The framework supports seamless multimodal interaction by integrating sensor and HMI signals as ROS2 topics or non-ROS channels. This capability enables various applications such as human-robot interaction, teleoperation, shared control, and autonomous compliant behaviors. CROSPI is designed to empower beginners to build advanced robotic applications by reusing task-specification libraries that can be orchestrated in Python. The configuration process is streamlined through JSON Schema-driven self-documentation and intelligent parameter autocompletion.
CROSPI is ROS2 native, allowing users to enhance their applications with other ROS2 packages and tools such as RViz, PlotJuggler, URDF, and ChArUco detection. Its fully extensible architecture supports the use of existing or custom C++ plugins to add new simulators, I/O handlers, solvers, or low-latency robot drivers. This extensibility ensures that after installation, plugins are automatically detected and fully configurable within the user's setup.
The framework supports real-time control of various robotic configurations, including single arms, bimanual arms, mobile manipulators, and parallel robots. CROSPI's hierarchical architecture separates the concerns of robot application development into four blocks, minimizing the required knowledge about the usage of provided libraries.
CROSPI's power lies in its ability to enable powerful and reactive robotic behaviors while reducing the expertise required by different stakeholders. It facilitates collaboration by systematically defining roles and developments, making it easier for stakeholders to understand each other's input. The framework has been successfully used in various case studies, showcasing its versatility and effectiveness in real-world applications.
- CategoryRobotics & AI Hardware
- Pricing ModelOpen Source
- DeploymentOn-Premise
- PlatformsROS2
CROSPI's Core Features
Open-source software
High-level interpreted language eTaSL
Seamless multimodal interaction
ROS2 native integration
Fully extensible architecture
Real-time control of various robots
JSON Schema-driven configuration
Python orchestration
How to use CROSPI?
Configure: Define robot and solver settings in JSON
Orchestrate: Compose skills into a behavior tree
Launch: Start nodes with ROS2 launch files
Run: Execute tasks on the robot in simulation or real hardware
CROSPI's Use Cases
- Mobile Manipulation
- SME Automation
- Quality Control
- Cheese Decrusting
- Robotic Assembly
