1.6 KiB
1.6 KiB
Robossembler Plansys2 example
Plansys2 & MoveIt2 example on ROS2 Foxy
Install
Install colcon with mixin (it's required to install moveit_visual_tools):
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 -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
Run
Add source to environment
source install/setup.bash
Launch MoveIt2, Gazebo, RViz
ros2 launch rasms_moveit_config rasms_bringup.launch.py
Launch PlanSys2 with domain from pddl/domain.pddl
ros2 launch rasms_manipulator rasms_manipulation.launch.py
Launch Plansys2 Terminal
ros2 run plansys2_terminal plansys2_terminal
Then into plansys2_terminal paste command (see updates into pddl/commands)
set instance rasms robot
set instance one zone
set predicate (robot_at rasms one)
set goal (and(robot_moved rasms one))
run