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20
README.md
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@ -43,26 +43,30 @@ Add source to environment
```
source install/setup.bash
```
Launch MoveIt2, Gazebo, RViz
Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from `pddl/domain.pddl`
```bash
ros2 launch rasms_moveit_config rasms_bringup.launch.py
```
Launch PlanSys2 with domain from ```pddl/domain.pddl```
```bash
ros2 launch robossembler robossembler.launch.py
ros2 launch robossembler robossembler_bringup.launch.py
```
#### With PlanSys2 Terminal
Launch Plansys2 Terminal
```bash
ros2 run plansys2_terminal plansys2_terminal
```
Then into plansys2_terminal paste command (see updates into pddl/commands)
```bash
set instance rasms_arm_group robot
set instance rasmt_arm_group robot
set instance one zone
set goal (and (robot_move rasms_arm_group one))
set goal (and (robot_move rasmt_arm_group one))
run
```
#### With C++ node
```bash
ros2 run robossembler move_controller_node
```
### 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)

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rasmt_moveit_config/README.md Normal file
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# Robossembler MoveIt2 package
This package contains the basic robot configuration files for MoveIt2
.
├── CMakeLists.txt
├── config
│ ├── cartesian_limits.yaml
│ ├── chomp_planning.yaml
│ ├── joint_limits.yaml
│ ├── kinematics.yaml
│ ├── ompl_planning.yaml
│ ├── rasmt_moveit_controllers.yaml
│ ├── rasmt_moveit.rviz
│ └── rasmt.srdf
├── launch
│ └── rasmt_moveit.launch.py
├── package.xml
└── README.md

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rasmt_support/README.md Normal file
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# Robossembler package for description of robot2
This package consists of files describing the AQUA model of the robot, the entire scene and the gripper device. It also contains startup files for launching robot controllers and simulations in gazebo.
```
.
├── CMakeLists.txt
├── config
│ ├── rasmt_ros2_controllers.yaml # File describing the robot controllers
│ └── rasmt.rviz
├── launch
│ ├── rasmt_control.launch.py # Launch file for running robot controlles
│ ├── rasmt_gazebo.launch.py # File for running gazebo simulation
│ └── rviz.launch.py # File for running RViz visualisation
├── meshes
│ ├── collision
│ │ ├── Base_Link.STL
│ │ ├── cube5x.STL
│ │ ├── Dock_Link.STL
│ │ ├── Fork_1.STL
│ │ ├── Fork_2.STL
│ │ ├── Fork_3.STL
│ │ ├── Grip_Body.STL
│ │ ├── Grip_L.STL
│ │ ├── Grip_R.STL
│ │ ├── Link_1.STL
│ │ └── Link_2.STL
│ └── visual
├── package.xml
├── README.md
└── urdf
├── cube5x.sdf # The cube inside which the robot works
├── rasmt.xacro # Main Robot scene description file
├── robot # Single robot description files
│ ├── rasmt_single_control.xacro
│ ├── rasmt_single_gazebo.xacro
│ └── rasmt_single_macro.xacro
└── tools # Robot tool description files
├── rasmt_hand_control.xacro
├── rasmt_hand_gazebo.xacro
└── rasmt_hand_macro.xacro
```

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robossembler/README.md
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# Robossembler Plansys2 example
# Robossembler Plansys2
Plansys2 & MoveIt2 example on ROS2 Foxy
This package is the main one and contains a task planner working in combination with MoveIt2. For more information about the requirements, read the main README.md
### Install
Install ```colcon``` with ```mixin``` (it's required to install ```moveit_visual_tools```):
```bash
sudo apt install python3-colcon-common-extensions python3-colcon-mixin python3-vcstool
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
```
Prepare workspace & install dependencies
```
mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2
vcs import . < robossembler-ros2/rasms.repos
cd ..
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy
colcon build --symlink-install --mixin release
```
### Run
Add source to environment
```
source install/setup.bash
```
Launch MoveIt2, Gazebo, RViz
```bash
ros2 launch rasms_moveit_config rasms_bringup.launch.py
```
Launch PlanSys2 with domain from ```pddl/domain.pddl```
```bash
ros2 launch task_planner task_planner.launch.py
```
Launch Plansys2 Terminal
```bash
ros2 run plansys2_terminal plansys2_terminal
```
Then into plansys2_terminal paste command (see updates into pddl/commands)
```bash
set instance rasms_arm_group robot
set instance one zone
set goal (and(robot_move rasms_arm_group one))
run
```
Or you can use move_controller_node to execute action, just run in new terminal
```bash
ros2 run task_planner move_controller
```
### 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)
.
├── behavior_trees_xml # Folder with BT nodes in XML file
│ └── atomic_skills_xml
│ ├── EmuPoseEstimation.xml
│ └── move.xml
├── CMakeLists.txt
├── config
│ └── params.yaml # Config params and waypoints which robot move
├── include # Libs which used
│ └── robot_bt
│ └── behavior_tree_nodes
│ └── atomic_skills
│ ├── EmuPoseEstimation.hpp # Lib for get Pose of model from Gazebo
│ └── Move.hpp # Lib for P2P move
├── launch
│ ├── robossembler_bringup.launch.py # Launch file for start all scene
│ └── task_planner.launch.py
├── package.xml
├── pddl
│ ├── commands # Example commands for PlanSys2 terminal
│ └── domain.pddl # The main domain file for launch PDDL
├── README.md
└── src
├── atomic_tasks
├── behavior_tree_nodes
│ └── atomic_skills
│ ├── EmuPoseEstimation.cpp
│ └── Move.cpp
├── move_action_node.cpp # Temporarily not used
└── move_controller_node.cpp # Execute plan wthout terminal
```