# Roby 0.7 Released **URL:** \ **Category:** Ruby\ **Created:** [May 28, 2008, 6:35pm UTC](https://www.ruby-forum.com/t/roby-0-7-released/138892 "2008-05-28T18:35:01Z")\ **Posts on this page:** 1\ **Page:** 1
**Author:** ![Sylvain\_J](https://www.ruby-forum.com/letter_avatar_proxy/v4/letter/s/7ab992/32.png) [@Sylvain\_J](https://www.ruby-forum.com/u/Sylvain_J)\ **Post date:** [May 28, 2008, 6:35pm UTC](https://www.ruby-forum.com/t/roby-0-7-released/138892/1 "2008-05-28T18:35:01Z")
roby version 0.7 has been released! - [http://roby.rubyforge.org](http://roby.rubyforge.org) (documentation, including installation instructions) - [http://www.rubyforge.org/projects/roby](http://www.rubyforge.org/projects/roby) (project page: bug trackers, …) - \<[http://github.com/doudou/roby](http://github.com/doudou/roby) (dev. repository)\> **Note for Gem users** While using the normal RDoc generator, the documentation generation process of Roby is a bit modified. In particular, the plugin documentation is separated from the core documentation, and a clearer template is used instead of the standard one. RubyGems does not support any kind of customization in that area, so I would _strongly_ suggest that you use the documentation provided at [http://roby.rubyforge.org](http://roby.rubyforge.org) instead of the RubyGem-generated one. # What is Roby ? Roby is a plan manager: it allows to represent, execute and adapt a plan, which is a representation of the past, present and future activities of a robot along with the information needed to verify that their executin is going well, and to manage errors. Roby is: - a task/event model in which one can represent the activities (Roby::Task) and the noticeable situations during execution (Roby::EventGenerator, Roby::Task.event). - a set of task relations describing the interactions between the activities (Roby::TaskStructure). - a set of event relations describing the reaction the system should have in response to some situations (Roby::EventStructure). - error management tools which allow to catch errors during execution and repair them (i.e. let the system manage the error). - a mean to modify the plan as it is being executed (Roby::Transaction) - (G)UI tools for interacting/controlling the living system. - all of that in a multi-robot context. ## Acknowledgments This work has been supported by the DGA ([http://www.defense.gouv.fr/dga](http://www.defense.gouv.fr/dga)) which financed my PhD and the LAAS/CNRS ([http://www.laas.fr](http://www.laas.fr)), where I did it. It is now supported by the DFKI ([http://www.dfki.de](http://www.dfki.de)) where I currently work and use this plan manager. ## Related publications Roby is the result of my PhD. As such, my PhD thesis can be considered as a design document for the system. If you want an overview of the principles, you can also refer to the two publications I did. See {this page}[link:files/doc/papers\_rdoc.html] for the list of publication and the associated PDF files. ## Videos The videos that are available show some capabilities of the system. They are also referenced in other parts of the API documentation (in particular in the tutorials), when it is meaningful. See {here}[link:files/doc/videos\_rdoc.html] for the available videos. ## Tutorials A set of tutorials describe Roby’s main features and let you experiment with them: 1. the GettingStarted[link:files/doc/tutorials/01-GettingStarted\_rdoc.html] tutorial makes you start a brand new Roby application and explains its structure. 2. the GoForward[link:files/doc/tutorials/02-GoForward\_rdoc.html] tutorial shows how to create a simple task, how to start the Roby controller and how to interact with it using a shell. 3. the PlannedPath[link:files/doc/tutorials/03-PlannedPath\_rdoc.html] tutorial shows how to create a (slightly) more complex plan, using the plan-generation capabilities of Roby. It also shows some properties of that plan. 4. the EventPropagation[link:files/doc/tutorials/04-EventPropagation\_rdoc.html] tutorial describes how the plan execution actually goes, with examples from Roby’s plan execution display (requires to have QtRuby) 5. the ErrorHandling[link:files/doc/tutorials/05-ErrorHandling\_rdoc.html] tutorial shows how errors are represented in the system, and how it is possible to handle and repair them. 6. {not really a tutorial}[link:files/doc/tutorials/06-Overview\_rdoc.html], but an overview of features that have not been presented in the first five tutorials. ## License Copyright 2006-2007, LAAS/CNRS [removed\_email\_address@domain.invalid](mailto:removed_email_address@domain.invalid) Copyright 2006-2008, Sylvain J. [removed\_email\_address@domain.invalid](mailto:removed_email_address@domain.invalid) Copyright 2008 DFKI [removed\_email\_address@domain.invalid](mailto:removed_email_address@domain.invalid) This work is licensed under the CeCiLL-B license, which is a free software license with the same spirit than the BSD license. See License.txt for details, and License-fr.txt for the french version. Changes: ### 0.7 - First public release. This release is still not compatible with Ruby 1.9, as too many bugs remain in 1.9.0 - [http://roby.rubyforge.org](http://roby.rubyforge.org) - [http://www.rubyforge.org/projects/roby](http://www.rubyforge.org/projects/roby) - \<[http://github.com/doudou/roby](http://github.com/doudou/roby) (dev. repository)\>