runtime/rasms_manipulator/README.md

# PLANSYS2 README

### Plansys2(ROS-Foxy)&MoveIt2
Plansys2 & MoveIt2 example on ROS2 Foxy 
### build
Install ```colcon``` the ROS 2 build system with ```mixin```:
```bash
sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
```
Install ```vcstool``` :
```bash
sudo apt install python3-vcstool
```

Install dependency packages from ```rasms.repos```
```bash
cd ~/WORKING_DIR_WS
vsc import src < rasms.repos
```

Build packages
```bash
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
colcon build --symlink-install
```

### run
Launch ```rasms_moveit```
```bash
ros2 launch rasms_moveit_config rasms_bringup.launch.py
```
Launch ```rasms_plansys2```
```bash
ros2 launch rasms_manipulator rasms_manipulator.launch.py
```
Launch ```plansys2_terminal```
```bash
ros2 run plansys2_terminal plansys2_terminal
```
Then into plansys2_terminal paste command
```bash
set instance rasms robot
set instance one zone
set predicate (robot_at rasms one)
set goal (and(robot_moved rasms one))
run
```



### links
* [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html)
* [bt_v3_cpp](https://www.behaviortree.dev)
* [moveit2](https://moveit.picknik.ai/foxy/index.html)