Oscar Lima and Rodrigo Ventura (DFKI, Germany, IST, Univ. Lisbon)
[email protected], [email protected]
Tutorial website available here, tutorial slides available over there.
Step 1: Install virtual machine downloaded from here: https://goo.gl/C35Zym (in, e.g., VirtualBox, VMWare)
Step 2: Add the following line to the ~/.bashrc:
source ~/ros_kinetic/ropslan/devel/setup.bash
Step 3: Clone the tutorial git repository containing example files from SocRob@Home team:
cd ~/ros_kinetic/ropslan/src
git clone https://github.com/oscar-lima/rosplan_tutorial.git
cd rosplan_tutorial
catkin build --this
Step 4: Fix PDDL domain:
roscd rosplan_tutorial/common/pddl
gedit domain.pddl
find and complete line:
; code find_object here !!!
Step 5: Fix PDDL problem instance:
roscd rosplan_tutorial/common/pddl
gedit problems/trivial.pddl
locate line: ; fact missing here !!!
add missing fact
Step 6: Check the PDDL domain and problem and test it:
roscd rosplan_tutorial/common/pddl
rosrun rosplan_planning_system popf domain.pddl problems/trivial.pddl
Step 7: Launch the ROSPlan system:
roslaunch rosplan_tutorial gpsr_demo.launch
Step 8: Test the problem generator:
rostopic echo /rosplan_problem_interface/problem_instance
rosservice call /rosplan_problem_interface/problem_generation_server
Step 9: Test the planner interface:
rostopic echo /rosplan_planner_interface/planner_output
rosservice call /rosplan_planner_interface/planning_server
Step 10: Test the plan parser:
rostopic echo /rosplan_parsing_interface/complete_plan
rosservice call /rosplan_parsing_interface/parse_plan
Step 11: Test the plan dispatcher:
rostopic echo /rosplan_plan_dispatcher/action_dispatch
rostopic echo /rosplan_plan_dispatcher/action_feedback
rosservice call /rosplan_plan_dispatcher/dispatch_plan
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