This stack contains the core components of the CRAM (Cognitive Robotic Abstract Machine) framework, developed at the Technische Universit√§t M√ľnchen ( The common sense reasoning part can be found in the knowrob stack. It contains libraries for reasoning and high level robot control for Steel Bank Common Lisp (


For documentation please consult the documentation section of the official CRAM webpage.


You can check out the current version of the cram_core stack with

git clone

or add the following line to your rosinstall file:

- git: {local-name: stacks/cram_core, uri: '', version: master}

Wiki: cram_core (last edited 2014-09-05 20:21:09 by GayaneKazhoyan)