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-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev
sudo apt-get install flex ros-hydro-mongodb-store ros-hydro-tf2-bullet freeglut3-dev
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 # optionally get the turtlebot interface git clone https://github.com/KCL-Planning/rosplan_interface_turtlebot2
source /opt/ros/hydro/setup.bash catkin_make
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_planning_system 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 and follow the "Getting Started" guide on our ROSPlan Wiki Page.
The turtlebot will move around the waypoints, exploring the environment. You should see output from the planning system, something like:
... KCL: (PS) Dispatching plan KCL: (PS) Dispatching action [0, goto_waypoint, 10.024417, 10.000000] KCL: (MoveBase) action recieved KCL: (PS) Feedback received [0,action enabled] KCL: (MoveBase) action finished: SUCCEEDED KCL: (PS) Feedback received [0,action achieved] ...
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