Forked from the ROSPlan repository. The algorithm is inside rosplan_planning_system/src/PlanDispatch/CSPExecGenerator.cpp.
The batch file to run the experiments is in rosplan_demos/rosplan_csp_exec_demo/scripts/automated_multiple_experiment_run-tomas.sh.
The script to build the DBN is inside rosplan_demos/rosplan_csp_exec_demo/scripts/calculate_plan_prob.py.
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.
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.
Install dependencies:
sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bulletCompile everything:
catkin build