Package Summary
| Tags | No category tags. |
| Version | 0.0.7 |
| 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 | 2020-03-26 |
| 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
Additional Links
Maintainers
- Francisco Martin Rico
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/${namespace}/domain.pddl, and the problem in /tmp/${namespace}/problem.pddl. The plan generated is stored in /tmp/${namespace}/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 for package plansys2_planner
0.0.7 (2020-03-26)
- Fix warning in last cmake versions Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- Contributors: Francisco Martin Rico
0.0.6 (2020-03-23)
- Run in separate namespaces. Monolothic node Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- Set distro to eloquent, and activate disabled tests Signed-off-by: Francisco Martin Rico <fmrico@gmail.com>
- Contributors: Francisco Martin Rico, Francisco Mart