saintrider / rosplan

The ROSPlan framework provides a generic method for task planning in a ROS system.

ROSPlan Framework

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.

Installation

Get the prerequisites:

(for Indigo)

sudo apt-get install flex ros-indigo-mongodb-store ros-indigo-tf2-bullet freeglut3-dev

(for Hydro)

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

Compile everything:

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 common/domain.pddl.

To run the demo first follow the installation instructions and quick-start guide for the Turtlebot Simulator and Gazebo:

Turtlebot Gazebo 

Turtlebot Simulator 

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]
...

Related repositories:

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