‘Cat and mouse’ game using ROS, Morse and CRAM
This is my first work using the Cognitive Robot Abstract Machine (CRAM). It is an implementation of the “cat and mouse” game using MORSE, ROS and CRAM as controller of the cat.
The mouse is controlled by the user using the keyboard and the cat follows the mouse using a CRAM plan.
I used the example that comes with Morse but I have replaced the control script in Python for the cat by a CRAM plan. In addition, I added one pose sensor to the mouse robot and I used this sensor to know its position instead of the semantic cameras of the cat.
For create the CRAM plan I recycled some parts of the tutorials that you can find in ROS wiki. I used the turtlesim controller as base for my cat controller.
The source code is available in GitHub.