squirrel_planning

Technical Maintainer: m312z (Michael Cashmore, King's College London)

Repository for planning related SQUIRREL packages.

Installation

You need the ROSPlan repository (follow the installation instructions here: https://github.com/KCL-Planning/ROSPlan/wiki/a.-Installation )

git clone https://github.com/clearpathrobotics/occupancy_grid_utils
git clone https://github.com/kcl-planning/ROSPlan.git

Additionally you will require Flex and MongoDB.

sudo apt-get install flex
sudo apt-get install mongodb
sudo apt-get install ros-hydro-mongodb-store

Running everything

First, disable the MongoDB service, if it is started automatically by your system:

sudo service mongodb stop

To launch the planning system, use:

roslaunch squirrel_planning_launch squirrel_planning_system.launch

To begin the mission, use:

rosrun squirrel_planning_execution tidyroom