Hi MRPT community,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: an intent becomes a typed primitive, validated against the robot's declared capabilities and a safety envelope, then dispatched. URML consumes the localization and maps a toolkit like MRPT produces, as the world a deployment validates intent against.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
The mapping: MRPT yields a pose estimate and occupancy / metric maps. URML resolves its frames and validates its geofence / occupancy constraints against that. URML consumes the estimate; MRPT does the localization and mapping.
Two real questions: (1) is "MRPT localizes and maps, URML resolves frames and validates constraints against it" a sensible consumer relationship? (2) Is there a clean output (pose, occupancy grid, map frame) a robot deployment would feed a URML manifest / envelope -- and which is the cleaner first seam?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0525-mrpt-outreach.md
Thanks for MRPT; a long-standing mapping/localization toolkit is exactly the estimate a declared-world intent layer consumes.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see https://github.com/URML-MARS/URML/blob/main/VIBE.md). Human-only correspondence available on request.
Hi MRPT community,
URML (urml.dev) is a small, Apache-2.0 language for describing robot intent: an intent becomes a typed primitive, validated against the robot's declared capabilities and a safety envelope, then dispatched. URML consumes the localization and maps a toolkit like MRPT produces, as the world a deployment validates intent against.
Nothing here asks the project to adopt, host, or maintain anything. This is a request for comment.
The mapping: MRPT yields a pose estimate and occupancy / metric maps. URML resolves its frames and validates its geofence / occupancy constraints against that. URML consumes the estimate; MRPT does the localization and mapping.
Two real questions: (1) is "MRPT localizes and maps, URML resolves frames and validates constraints against it" a sensible consumer relationship? (2) Is there a clean output (pose, occupancy grid, map frame) a robot deployment would feed a URML manifest / envelope -- and which is the cleaner first seam?
Full write-up: https://github.com/URML-MARS/URML/blob/main/docs/rfcs/0525-mrpt-outreach.md
Thanks for MRPT; a long-standing mapping/localization toolkit is exactly the estimate a declared-world intent layer consumes.
Ido Yahalomi (URML, greenvh@gmail.com)
AI-assisted prose, maintainer-reviewed before posting (see https://github.com/URML-MARS/URML/blob/main/VIBE.md). Human-only correspondence available on request.