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@ProNeverFake ProNeverFake released this 03 Apr 13:57
· 1 commit to kios_ros since this release

Well, this is the old version of Kios, which is developed based on BehaviorTree.CPP and ROS2 foxy.

During the development, blackbird found that to generate behavior trees with the help of LLM, it is necessary to enable more flexible operations between different layers/sub-structures of the behavior tree, which introduces the advantages of py_trees. Meanwhile, for large language models, the program is usually more Python-friendly, which brings the necessity of turning to Python. Lastly, the Ros2 part is deprecated not because of its bloated mechanism but due to the adoption of the existing robot middleware in our chair. As proposed several times before, it is unnecessary and meaningless to do IPC between two robot middleware. As I decided to use mios, I finally kissed the Ros2 part goodbye.

Anyway, this is an old version of Kios that has been discarded. The record will serve as a lesson learned in project development and also a resource to refer to when some similar problems appear.

written by BB
03.04.2024