# Robossembler ROS2

Repo for ROS2 packages related to Robossembler

## Instructions
### Requirements
* OS: Ubuntu 20.04
* Other distributions might work (not tested).

### Dependencies
These are the primary dependencies required to use this project.

* ROS 2 Foxy
* MoveIt 2 
    > Install/build a version based on the selected ROS 2 release
* Gazebo

### Build

1. Clone the repository
2. Build packages

For visualization 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
```

but at the moment the visualization is not implemented

### Examples
Add source to environment
```
source install/setup.bash
```
Add robot model to Gazebo models directory

```
cp ~/robossembler_ws/src/robossembler-ros2/rasmt_support/ ~/.gazebo/models/
```

Launch MoveIt2, Gazebo, RViz and PlanSys2 with domain from `pddl/domain.pddl`
```bash
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 rasmt_arm_group robot
set instance one zone
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)
* [moveit2](https://moveit.picknik.ai/foxy/index.html)