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:
-
/planner/get_plan[plansys2_msgs::srv::GetPlan]
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.
Package Dependencies
System Dependencies
No direct system dependencies.
Dependant Packages
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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