⚜️ Sentra ⚜️

Sentra is a modular, ROS2-based framework that provides a lightweight Generative AI core for semantic understanding and question-answering in vS-Graphs. It uses Vision-Language Models (VLMs) for extracting visual embeddings and enables context-aware reasoning through a Retrieval-Augmented Generation (RAG) pipeline. Sentra is designed to be easily extendable, allowing users to integrate new VLMs and reasoning modules as needed.

🧠 Architecture

🚀 Getting Started

For installation, you need an Ubuntu 24.04 system with ROS2 Jazzy installed. Clone the repository and install the required dependencies in the requirements.txt file. Then, build the ROS2 workspace using colcon build and run the framework using the provided launch files.

# Clone the repository
git clone git@github.com:snt-arg/sentra.git

# Install Python dependencies
cd sentra && pip3 install --no-cache-dir -r sentra_ros/requirements.txt

# Build the ROS2 workspace
cd ~/workspace
source /opt/ros/$ROS_DISTRO/setup.bash
rosdep install --from-paths src --ignore-src -r -y
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release

# Run the Sentra framework
source install/setup.bash
ros2 launch sentra_ros sentra.launch.py

🐋 Docker

For a fully reproducible, environment-independent setup, see the Docker section.

📎 Related Repositories

• 🔨 vS-Graphs
• 🎞️ Scene Segmentor (ROS2 Jazzy)
• 🦊 Voxblox Minimal (ROS2 Jazzy)

🔑 License

This project is licensed under the GPL-3.0 license - see the LICENSE for more details.