runtime/rbs_task_planner/README.md

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### Usage
change `rbs_simulation.laucnh.py` file by providing `${PATH}` and `${PREFIX}` to assemble files
```python
assemble_state = Node(
package="rbs_skill_servers",
executable="assemble_state_service_server",
output="screen",
emulate_tty=True,
parameters=[
{"assemble_prefix": "ASSEMBLE_"} # ${PREFIX}
{"assemble_package_dir": ${COLCON_WS}/src/robossembler-ros2/rbs_task_planner/exemples/sdf_models}, # ${PATH}
]
)
```
launch simulation proccess
```bash
ros2 launch rbs_simulation rbs_simulation.launch.py
```
launch task_planner process
```bash
ros2 launch rbs_task_planner task_planner.launch.py
```
start env_manager process
```bash
./${COLCON_WS}/build/env_manager/main
```
you can send `problem` throw plansys2 service with `${PROBLEM_FILE_CONTENT}`
```bash
ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: ${PROBLEM_FILE_CONTENT}}'
```
or you can use `plansys2_terminal`
```bash
ros2 run plansys2_terminal plansys2_terminal
```
after that use `plansys2_terminal` to call `run` command and start executing process