Basic Survey Planning #114
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Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation.
Adding planning domain, problem, and xml of the atomic actions of the robotic agents
… surveys by Marina - unfortunately causes additional planner flakiness
Attempt at a complete MVP domain model for survey planning
Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation.
NOTE: If already installed, remove V3 before installing V4
- Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal)
…em with POPF/OPTIC
Fixes for problem_generator.py
bcoltin
approved these changes
Dec 27, 2023
|
@marinagmoreira I updated the submodules to use your fixes and made the same change to |
marinagmoreira
approved these changes
Jan 5, 2024
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Allows basic planning with the current survey domain.
Remember to update your submodules after pulling. I've found
git pull --recurse-submodulesto be more effective than using the submodule subcommands directly. Also note the submodules undersurvey_plannerhave moved and while the new versions should be created auto-magically the old ones could need a manual deletion. I recommend acatkin cleanbefore this build if you've done anything on the survey branch up to this point and if you haven't you'll probably need tosudo apt install libreadline-dev ros-noetic-behaviortree-cppNote this includes @trey0's #112 since I needed the updated survey domain.
Playing with the planner:
roslaunch survey_planner survey_domain.launchwhich will setup the required plansys2 nodesrosrun plansys2_terminal plansys2_terminalto get a repel. Typehelpfor a list of commands with basic tab completion support.@marinagmoreira once the action nodes are registered you can fire them off manually from the palnsys2_terminal REPL with
run action <action_name>even if there is no plan.