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CRAM Software and Architecture Overview

CRAM code is distributed over multiple Git repositories that can be mostly found under the cram-code oragnization.

Below is a diagram showing the relations of different repositories, their usage and for some the descriptions of single packages. The diagram only shows the packages necessary for running CRAM in the simulation mode. In addition to those, there are packages for using it on physical systems, packages for logging the execution, interfaces to controllers, interfaces to robot vision systems, and many more packages that are specific for a certain application and are not described here for the sake of simplisity and brevity.

roslisp is included in the official ROS distribution and, together with roslisp_common, they are hosted by the ROS Github organization.

KnowRob is an external system that CRAM uses for managing knowledge. Its source code is also hosted on GitHub.