Package Summary
| Tags | No category tags. |
| Version | 1.0.7 |
| 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 | foxy-devel |
| Last Updated | 2021-01-04 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| 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. By default, it uses popf, that 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.
Plan solvers are specified in the plan_solver_plugins parameter. In case of more than one specified, the first one will be used. If this paremeter is not specified, POPF will be used by default.
Services
-
/planner/get_plan[plansys2_msgs::srv::GetPlan]
Changelog for package plansys2_planner
1.0.7 (2021-01-04)
- Making explicit dependencies
- Contributors: Francisco Martin Rico
1.0.6 (2020-12-29)
- Disable boost functions
- Contributors: Francisco Martin Rico
1.0.5 (2020-12-28)
- Migration to c++17
- Contributors: Francisco Mart
Wiki Tutorials
Source Tutorials
Package Dependencies
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged plansys2_planner at answers.ros.org
Package Summary
| Tags | No category tags. |
| Version | 0.0.17 |
| 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 | 2020-08-11 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | RELEASED |
| 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
0.0.17 (2020-08-11)
0.0.16 (2020-08-11)
0.0.15 (2020-08-09)
0.0.14 (2020-08-07)
- Merge pull request #26 from mjcarroll/reduce_deps [Eloquent] Reduce unnecessary dependencies
- Remove CMAKE_BUILD_TYPE
- Contributors: Francisco Mart