The main ROSPlan website and documentation is available here.
The ROSPlan framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It provides with a simple interface, and already includes interfaces to common ROS libraries.
Several demos are available in the rosplan_demos repository. More will be added over time.
ROSPlan supports kinetic and melodic ROS distributions and is developed under Ubuntu 16.04 / 18.04, being linux Ubuntu 18.04 + melodic the recommended setup.
sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet
Select or create a catkin workspace:
mkdir -p ROSPlan/src cd ROSPlan/
Get the code:
cd src/ git clone https://github.com/KCL-Planning/rosplan
Running a demo with the turtlebot 2, using Gazebo simulator (kinetic only)
This demo has been migrated to a separate repo, please follow up this link: rosplan_demos
Using ROSPlan's docker image
Get your docker image from the Docker Hub:
docker pull kclplanning/rosplan
Run an interactive bash shell inside the docker, ready to run ROSPlan:
docker run -it --rm kclplanning/rosplan bash
Automatic localisation and docking action interfaces with the Turtlebot 2 (Kobuki base) https://github.com/KCL-Planning/ROSPlan_interface_Turtlebot2
Integration with the Component Oriented Layered-base Architecture for Autonomy (COLA2). Developed in the Research Center of Underwater Robotics (CIRS) in the University of Girona (UdG). This architecture is used to control the Autonomous Underwater Vehicles (AUVs) developed in this center. (https://bitbucket.org/udg_cirs/cola2) https://github.com/KCL-Planning/ROSPlan_interface_COLA2
Action interfaces for piloting a quadrotor from Jindrich Vodrazka, (takeoff, land, fly_square, and fly_waypoint). https://github.com/fairf4x/ROSPlan_interface_quadrotor