runtime/task_planner

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
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 task_planner task_planner.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_arm_group robot
set instance one zone
set goal (and(robot_move rasms_arm_group one))
run

Or you can use move_controller_node to execute action, just run in new terminal

ros2 run task_planner move_controller

Links

• plansys2_bt
• bt_v3_cpp
• moveit2