The main ROSPlan website and documentation is available here: http://kcl-planning.github.io/ROSPlan/
The ROSPlan framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It possesses a simple interface, and already includes interfaces to common ROS libraries.
Get the prerequisites:
sudo apt-get install flex ros-kinetic-mongodb-store ros-kinetic-tf2-bullet freeglut3-dev python-catkin-tools
sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev python-catkin-tools
Select a catkin workspace or create a new one:
mkdir -p ROSPlan/src cd ROSPlan/
Get the code:
cd src/ git clone https://github.com/clearpathrobotics/occupancy_grid_utils git clone https://github.com/KCL-Planning/rosplan
Running a demo with the turtlebot
The turtlebot demo is now a simple exploration mission. The turtlebot will visit randomly generated waypoints around a map.
The domain for this demo is in the
rosplan_demos package, as
To run the demo first follow the installation instructions and quick-start guide for the Turtlebot Simulator and Gazebo:
Then source the ROSPlan workspace in two terminals.
1. In the first terminal, begin the simulation, rviz visualisation, and ROSPlan nodes using the
turtlebot.launch from the rosplan_demos package:
roslaunch rosplan_demos turtlebot.launch
2. In the second terminal run
turtlebot_explore.bash, a script which
- adds to the knowledge base the PDDL objects and facts which comprise the initial state;
- adds the goals to the knowledge base; and
- calls the ROSPlan services which generate a plan and dispatch it.
rosrun rosplan_demos turtlebot_explore.bash
You should see the following output from the script:
waypoints: ['wp0', 'wp1', 'wp2', 'wp3', 'wp4', 'wp5'] Adding initial state and goals to knowledge base. success: True success: True Calling problem generator. Calling planner interface. Calling plan parser. Calling plan dispatcher. Finished!
The turtlebot will move around the waypoints, exploring the environment. You should see output in the first terminal, something like:
... KCL: (/rosplan_problem_interface) (problem.pddl) Generating problem file. KCL: (/rosplan_problem_interface) (problem.pddl) The problem was generated. KCL: (/rosplan_planner_interface) Problem received. KCL: (/rosplan_planner_interface) (problem.pddl) Writing problem to file. KCL: (/rosplan_planner_interface) (problem.pddl) Running: timeout 10 /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_planning_system/common/bin/popf /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/domain_turtlebot_demo.pddl /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/problem.pddl > /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/plan.pddl KCL: (/rosplan_planner_interface) (problem.pddl) Planning complete KCL: (/rosplan_planner_interface) (problem.pddl) Plan was solved. KCL: (/rosplan_parsing_interface) Planner output received. KCL: (/rosplan_parsing_interface) Parsing planner output. KCL: (/rosplan_plan_dispatcher) Plan received. KCL: (/rosplan_plan_dispatcher) Dispatching plan. KCL: (/rosplan_plan_dispatcher) Dispatching action [0, goto_waypoint, 0.804106, 10.000000] KCL: (/rosplan_plan_dispatcher) Feedback received [0, action enabled] ...
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