History

Roman Andrianov 21f99ddf7e Update rasms_manipulator/README.md		2022-01-09 09:58:08 +00:00
..
behavior_trees_xml	replace Move node to BTActionNodeBase	2021-12-21 00:30:06 +07:00
config	write move action with moveit	2022-01-09 17:56:22 +08:00
include/rasms_bt/behavior_tree_nodes	write move action with moveit	2022-01-09 17:56:22 +08:00
launch	write move action with moveit	2022-01-09 17:56:22 +08:00
pddl	write move action with moveit	2022-01-09 17:56:22 +08:00
src	write move action with moveit	2022-01-09 17:56:22 +08:00
CMakeLists.txt	rebuild move logic	2021-12-20 20:42:14 +07:00
package.xml	plansys2: initialize move group interface	2021-11-29 23:53:45 +07:00
README.md	Update rasms_manipulator/README.md	2022-01-09 09:58:08 +00:00

README.md

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

README.md

Robossembler Plansys2 example

Install

Run

Links