runtime/rbs_task_planner

Usage

change rbs_simulation.laucnh.py file by providing ${PATH} and ${PREFIX} to assemble files

    assemble_state = Node(
        package="rbs_skill_servers",
        executable="assemble_state_service_server",
        output="screen",
        emulate_tty=True,
        parameters=[
            {"assemble_prefix": "ASSEMBLE_"} # ${PREFIX}
            {"assemble_package_dir": ${COLCON_WS}/src/robossembler-ros2/rbs_task_planner/exemples/sdf_models}, # ${PATH}
        ]
    )

launch simulation proccess

ros2 launch rbs_simulation rbs_simulation.launch.py

launch task_planner process

ros2 launch rbs_task_planner task_planner.launch.py

start env_manager process

./${COLCON_WS}/build/env_manager/main

you can send problem throw plansys2 service with ${PROBLEM_FILE_CONTENT}

ros2 service call /problem_expert/add_problem plansys2_msgs/srv/AddProblem '{problem: ${PROBLEM_FILE_CONTENT}}'

or you can use plansys2_terminal

ros2 run plansys2_terminal plansys2_terminal

after that use plansys2_terminal to call run command and start executing process