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update README

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Ilya Uraev 2023-07-28 13:06:11 +03:00
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@ -54,6 +54,11 @@ Load Problem file via ROS2 Service (TMP):
ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: (define (problem box_problem)(:domain atomic_domain)(:objects ur_manipulator_gripper - arm workspace1 - zone box1 box2 box3 - part asm0 asm1 asm2 asm3 - assembly)(:init (part_of box1 asm1)(part_of box2 asm2)(part_of box3 asm3)(assembly_order asm0 asm1)(assembly_order asm1 asm2)(assembly_order asm2 asm3)(arm_available ur_manipulator_gripper)(assembly_at asm0 workspace1)(assembled asm0))(:goal (and (assembled asm3))))}'
```
Start task planner
```
ros2 run rbs_task_planner execute_plan
```
### Links
* [bt_v3_cpp](https://www.behaviortree.dev)
* [moveit2](https://moveit.picknik.ai/humble/index.html)