runtime/rasms_manipulator

PLANSYS2 README

Plansys2(ROS-Foxy)&MoveIt2

Plansys2 & MoveIt2 example on ROS2 Foxy

build

Install colcon the ROS 2 build system with mixin:

sudo apt install python3-colcon-common-extensions
sudo apt install python3-colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default

Install vcstool :

sudo apt install python3-vcstool

Info:

You can build plansys2 from source or install as package

Install plansys2 as package

sudo apt install ros-foxy-plansys2_*

Build from source

mkdir -p ~/plansys2_ws/src
cd ~/plansys2_ws/src
git clone https://github.com/IntelligentRoboticsLabs/ros2_planning_system.git

cd ~/plansys2_ws
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro foxy-devel
colcon build --symlink-install

If you install plansys2 as a package for foxy then you also need to build from the source code plansys2(foxy-devel branch) and then copy the file libplansys2_bt_actions.so to the directory of ros

sudo cp ~/plansys2_ws/build/plansys2_bt_actions/libplansys2_bt_actions.so /opt/ros/foxy/lib/libplansys2_bt_actions.so

run

Launch rasms_moveit

ros2 launch rasms_moveit_config rasms_bringup.launch.py

Launch rasms_plansys2

ros2 launch rasms_manipulator rasms_manipulator.launch.py

Launch plansys2_terminal

ros2 run plansys2_terminal plansys2_terminal

Then into plansys2_terminal paste command

set instance rasms robot
set instance one zone
set predicate (robot_at rasms one)
set goal (and(robot_moved rasms one))
run

links

• plansys2_bt
• bt_v3_cpp
• moveit2