plansys2_suave

PDDL files for plansys2

Install

Get repo and dependencies:

mkdir -p ~/suave_metaplan_ws/src
cd ~/suave_metaplan_ws/src
git clone [email protected]:kas-lab/suave_metaplan.git
cd ~/suave_metaplan_ws/
vcs import src < suave_metaplan/dependencies.rosinstall --recursive
source /opt/ros/humble/setup.bash
rosdep install --from-paths src --ignore-src -r -y

Build:

cd ~/suave_metaplan_ws/
source /opt/ros/humble/setup.bash
colcon build --symlink-install

Running the code

In a terminal, run the plansys2 system with the inspect_pl_domain file loaded in:

ros2 launch plansys2_bringup plansys2_bringup_launch_distributed.py model_file:=path_to_file/inspect_pl_domain.pddl

In a new terminal populate the problem_expert:

ros2 run plansys2_terminal plansys2_terminal

In a separate terminal, start up the plansys_terminal:

ros2 run plansys2_terminal plansys2_terminal

In the plansys_terminal, run plan:

get plan

Running full simulation

Make sure to navigate to the pipeline inspection workspace and source for every new terminal opened.

source install/setup.sh

Start ardusub simulation of UUV:

sim_vehicle.py -L RATBeach -v ArduSub --model=JSON --console

In a new terminal start the gazebo simulation:

ros2 launch suave simulation.launch.py x:=17.0 y:=2.0

Next, in a new terminal launch the action nodes and load in the PDDL file:

ros2 launch plansys2_suave plansys2_simple_launch.py

Afterwards, in a new terminal launch the system modes monitor to gain an insight into the current system modes being used:

ros2 launch system_modes mode_monitor.launch.py
modelfile:=src/suave/suave/config/suave_modes.yaml

Start mission file in a new terminal:

ros2 run suave_missions start_mission

Run the plan handler node in a new terminal:

ros2 run mros2_mock plan_handler_node

Following, launch system modes with the system modes bridge and all the monitor nodes:

ros2 launch suave_metacontrol mock_suave_metacontrol.launch.py

Finally, launch the mros reasoner:

ros2 launch suave_metacontrol metacontrol.launch.py