Librarian

Provide simple interface for managing files used by CoSTAR programs.

File System

• Types: high level categories; use these to group definitions of different items/variables used in a CoSTAR workspace.
• Items: items are represented as files, and can be saved/loaded as ROS parameters.

Using Librarian

Librarian lets CoSTAR save information between runs even when being run across multiple machines. It’s particularly useful if the primary machine is being used for perception and planning, and you want to use a smaller machine or tablet for the user interface but save all information to the original desktop. It is started automatically by costar_bringup.

Launch Files

The librarian_bringup package contains launch files for Librarian. As such, you can launch the librarian core easily with:

roslaunch librarian_bringup core.launch

To change the location of the folder Librarian stores and reads files from, simply change the librarian_root parameter:

roslaunch librarian_bringup core.launch librarian_root:=~/.costar/

Running Librarian

Start librarian_core with the directory you want to use for saving/loading files.

Provided Services

Troubleshooting

Contact

Librarian is maintained by Chris Paxton (cpaxton3@jhu.edu)