Software catalogue

All the CoreSense software is open source and hosted in the CoreSense GitHub organisation. This page lists the main repositories, grouped by topic. The Install column shows how each one can be installed (see Build and Install): Pixi, apt or source.

Architecture

Repository	Description	Install
cs4home_architecture	ROS 2 implementation of the CoreSense architecture: cognitive modules (afferent, core, efferent, meta and coupling components) and flows.	source
cs4home_examples	Example cognitive modules built with cs4home_architecture.	source
cs_functional_module_template	Template to start a new functional module.	source
coresense_understanding	Understanding system: generates strategies to obtain models with given properties.	source
understanding-logic	Logic of the understanding core.	source
coresense_understanding_examples	Example engines for the understanding system.	source
decision_system	CoreSense decision system for ROS 2.	source
triplestar_kb	Knowledge base for ROS 2 based on RDF-star and RDF 1.2.	source
coresense_vampire	ROS 2 node that wraps the Vampire automated theorem prover.	source
cso	CoreSense Ontology, resolvable at https://w3id.org/coresense/cso.	–

Cognitive modules and structures

Repository	Description	Install
EasyNavigation and easynav_plugins	EasyNav, a plugin-based, real-time navigation framework able to include semantic and awareness representations. Documentation: https://easynavigation.github.io.	Pixi, apt
risk-awareness-module	Risk awareness module (RiskAM): real-time risk score of visually navigated robots. See Risk awareness with RiskAM.	source
physics-aware-module	Physics-aware modelling module based on neuro-evolutionary symbolic regression.	source
fms	Cognitive structure to deploy AI foundation models inside CoreSense systems.	source
cs-ne	CoreSense Navigation Essential.	source
cs4home_sound_module	Cognitive module for sound perception.	source
cs4home_vision_module	Cognitive module for visual perception.	source
cs4home_person_tracker_module	Person tracking from camera and laser detections.	source
cs4home-explainability	Explainability framework based on behaviour-tree status and component evidence.	source

Toolchain

Repository	Description	Install
rossdl	ROS System Definition Language: model-based description of ROS 2 systems and code generation.	source
RosTooling	Eclipse-based IDE to model ROS systems. See CoreSense Toolchain.	update site
CS_ros2model_TBs	Models of the testbed systems extracted with the introspection tools.	–
SysML2-server-api	Dockerised local SysML v2 server and API pipeline.	Docker

ROS 2 instrumentation

Repository	Description	Install
coresense_instrumentation	Virtual drivers to activate, deactivate and monitor data flows, and an RViz plugin. See CoreSense Instrumentation.	source

Testbeds

Repository	Description	Install
CoreSense4Home	CoreSense implementation for RoboCup@Home (social testbed).	source
cs4home_hri_challenge	HRI challenge of the social testbed.	source
tiago_sw	Open-source software for the PAL TIAGo robot used in the social testbed.	source, apt
collective_awareness_structure	Collective awareness for multi-robot systems built with Aerostack2 (inspection testbed).	source
TB2_Panel_Inspection_Simulation	Simulation of the drone panel inspection testbed.	source