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

Install dependency packages from rasms.repos

cd ~/WORKING_DIR_WS
vsc import src < rasms.repos

Build packages

rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
colcon build --symlink-install

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