This repository contains:
- the main rosplan turtlebot exploration demo (previously: rosplan_demos, now ->pkg: rosplan_turtlebot2_demo)
- rosplan interfaces (move base and mapping) for the above mentioned demo (meta-pkg: rosplan_demos_interfaces)
- general demo files (pkg: rosplan_demos), kept here for backwards compatibility purposes
NOTE for melodic users: Because turtlebot 2 simulation debian packages have not been released yet into melodic (last udpate 15.03.2019), this demo is now guaranteed to work only for kinetic, read more about it in this issue.
If you wish to test in kinetic, feel free to continue reading:
The turtlebot demo is a simple exploration mission.
The turtlebot will visit randomly generated waypoints around a map. See image below showing rviz visualisation.
The PDDL domain file for this demo can be found under rosplan_turtlebot2_demo package, as common/domain_turtlebot_demo.pddl:
roscd rosplan_turtlebot2_demo/common
cat domain_turtlebot_demo.pddl
To run the demo first follow the installation instructions and quick-start guide for the Turtlebot Gazebo simulator and Turtlebot Simulator.
Install debian dependencies
sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-move-base-msgs
Install further dependencies from source in your catkin workspace:
cd ~/ros_ws/src
git clone https://github.com/clearpathrobotics/occupancy_grid_utils
git clone https://github.com/KCL-Planning/rosplan_demos.git
Compile the code:
catkin build
Then source the ROSPlan workspace in two terminals.
source ~/ros_ws/devel/setup.bash
1. In a first terminal, begin the simulation, rviz visualisation, and ROSPlan nodes using the turtlebot.launch from the rosplan_demos package:
roslaunch rosplan_turtlebot2_demo turtlebot.launch
2. In a second terminal run turtlebot_explore.bash, a script which:
- adds to the knowledge base the PDDL objects and facts which comprise the initial state;
- adds the goals to the knowledge base; and
- calls the ROSPlan services which generate a plan and dispatch it.
rosrun rosplan_turtlebot2_demo turtlebot_explore.bash
You should see the following output from the script:
waypoints: ['wp0', 'wp1', 'wp2', 'wp3', 'wp4', 'wp5']
Adding initial state and goals to knowledge base.
success: True
success: True
Calling problem generator.
Calling planner interface.
Calling plan parser.
Calling plan dispatcher.
Finished!
The turtlebot will move around the waypoints, exploring the environment. You should see output in the first terminal, something like:
...
KCL: (/rosplan_problem_interface) (problem.pddl) Generating problem file.
KCL: (/rosplan_problem_interface) (problem.pddl) The problem was generated.
KCL: (/rosplan_planner_interface) Problem received.
KCL: (/rosplan_planner_interface) (problem.pddl) Writing problem to file.
KCL: (/rosplan_planner_interface) (problem.pddl) Running: timeout 10 /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_planning_system/common/bin/popf /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/domain_turtlebot_demo.pddl /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/problem.pddl > /home/michael/ros_indigo/turtlebot/src/rosplan/rosplan_demos/common/plan.pddl
KCL: (/rosplan_planner_interface) (problem.pddl) Planning complete
KCL: (/rosplan_planner_interface) (problem.pddl) Plan was solved.
KCL: (/rosplan_parsing_interface) Planner output received.
KCL: (/rosplan_parsing_interface) Parsing planner output.
KCL: (/rosplan_plan_dispatcher) Plan received.
KCL: (/rosplan_plan_dispatcher) Dispatching plan.
KCL: (/rosplan_plan_dispatcher) Dispatching action [0, goto_waypoint, 0.804106, 10.000000]
KCL: (/rosplan_plan_dispatcher) Feedback received [0, action enabled]
...
NOTE: You might experience a rotating behavior on the robot (overshooting the local trajectory), this is a known issue, however it should make progress towards the goal and eventually reach the waypoints.