frame_registrar manages a graph of semantic frames and callbacks. It contains semantic frames akin to FrameNet but designed for robotics and internally manages a graph of semantic frames and their associated callbacks. frame_registrar communicates with other nodes by providing interfaces for adding semantic frames (through yaml files), accessing semantic frames and their relatives (given filled lexical units), and registering callbacks for RFNServers (in essence, Action Servers) by binding the callbacks to semantic frames.
frame_registrar is ...