Package Summary

Tags No category tags.
Version 0.0.5
License Apache License, Version 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/IntelligentRoboticsLabs/ros2_planning_system.git
VCS Type git
VCS Version eloquent-devel
Last Updated 2020-01-12
Dev Status DEVELOPED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

This package contains the PDDL-based Planner module for the ROS2 Planning System

Additional Links

No additional links.

Maintainers

  • Francisco Martin Rico

Authors

No additional authors.

Planner

The Planner module is responsible for creating plans. It uses popf, that is is a PDDL solver.

This module is very simple, as its only task is calling the popf binary and parsing the result.

The main class is plansys2::PlannerNode, which is instantiated from planner_node.cpp. plansys2::PlannerNode is a also rclcpp_lifecycle::LifecycleNode, but currently the functionality is in the active phase.

The class responsible for creating plans is plansys2::Planner, which is independent of ROS2.

Before calling popf for calculating the plan, the domain is stored in /tmp/domain.pddl, and the problem in /tmp/problem.pddl. The plan generated is stored in /tmp/plan before parsing it.

The calling clients must provide the content of a domain and a problem. They can use a Domain Expert Client or a Problem Expert Client to get it:

Services:

CHANGELOG

Changelog for package plansys2_planner

0.0.5 (2020-01-12)

0.0.4 (2020-01-09)

  • Adding missing action dependencies Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Contributors: Francisco Martin Rico

0.0.3 (2020-01-09)

0.0.2 (2020-01-08)

  • Merge pull request #16 from IntelligentRoboticsLabs/pddl_parser_rename Rename pddl_parser
  • Rename pddl_parser Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Merge pull request #15 from IntelligentRoboticsLabs/example_rename Rename example. Small bug in timeouts
  • Rename example. Small bug in timeouts Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Packages.xml description Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Adding documentation Signed-off-by: Francisco Martin Rico <fmartin@gsyc.urjc.es>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Setting CI Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • First version of planner complete Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
  • Contributors: Francisco Martin Rico, Francisco Mart

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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