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README now valid & tested

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# PLANSYS2 README # Robossembler Plansys2 example
### Plansys2(ROS-Foxy)&MoveIt2 Plansys2 & MoveIt2 example on ROS2 Foxy
Plansys2 & MoveIt2 example on ROS2 Foxy
### build ### Install
Install ```colcon``` the ROS 2 build system with ```mixin```: Install ```colcon``` with ```mixin``` (it's required to install ```moveit_visual_tools```):
```bash ```bash
sudo apt install python3-colcon-common-extensions sudo apt install python3-colcon-common-extensions python3-colcon-mixin python3-vcstool
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default colcon mixin update default
``` ```
Install ```vcstool``` :
```bash Prepare workspace & install dependencies
sudo apt install python3-vcstool ```
mkdir -p ~/robossembler_ws/src && cd ~/robossembler_ws/src
git clone https://gitlab.com/robosphere/robossembler-ros2 -b dev-motion-planning-plansys2
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
``` ```
Install dependency packages from ```rasms.repos``` ### Run
```bash Add source to environment
cd ~/WORKING_DIR_WS
vsc import src < rasms.repos
``` ```
source install/setup.bash
Build packages
```bash
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
colcon build --symlink-install
``` ```
Launch MoveIt2, Gazebo, RViz
### run
Launch ```rasms_moveit```
```bash ```bash
ros2 launch rasms_moveit_config rasms_bringup.launch.py ros2 launch rasms_moveit_config rasms_bringup.launch.py
``` ```
Launch ```rasms_plansys2``` Launch PlanSys2 with domain from ```pddl/domain.pddl```
```bash ```bash
ros2 launch rasms_manipulator rasms_manipulator.launch.py ros2 launch rasms_manipulator rasms_manipulation.launch.py
``` ```
Launch ```plansys2_terminal``` Launch Plansys2 Terminal
```bash ```bash
ros2 run plansys2_terminal plansys2_terminal ros2 run plansys2_terminal plansys2_terminal
``` ```
@ -49,9 +46,7 @@ set goal (and(robot_moved rasms one))
run run
``` ```
### Links
### links
* [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html) * [plansys2_bt](https://intelligentroboticslab.gsyc.urjc.es/ros2_planning_system.github.io/tutorials/docs/bt_actions.html)
* [bt_v3_cpp](https://www.behaviortree.dev) * [bt_v3_cpp](https://www.behaviortree.dev)
* [moveit2](https://moveit.picknik.ai/foxy/index.html) * [moveit2](https://moveit.picknik.ai/foxy/index.html)