TeMoto Context Manager hosts an Environment Model Repository (ERM), which is used to store relations with world objects. The ERM is shared and synchronized with multiple instances of Context Manager, thus enabling the robots to share knowledge about the surrounding environment.
cd catkin_ws/src
git clone https://github.com/temoto-framework/temoto_context_manager
cd ..
catkin build
First launch the visualization setup that brings up:
- Context Manager, which hosts the ERM
- ERM marker publisher, which publishes
visualization_msgs::Marker
messages - RViz, which displays the visualization markers
roslaunch temoto_context_manager emr_item_visualizer.launch
Next, add some items (table, chair, bottle) to the EMR via:
rosrun temoto_context_manager emr_item_setter_example
You should see this rather modest scene in RViz:
And also the contents of EMR are available via TFs: