/tiago_planning_demo

Primary LanguageC++

English | 中文

Experimental code for the paper OCP

Here is the code for the paper: OCP: An Online Contingent Planning Method for Robot Tasks in Unknown Environments.

There are total 4 packages，including:

  • planning_node code for the planning algorithm
  • ROSPlan some ROS msgs and services
  • tiago_demo_planning The exact case, including two scenarios and the ExPDDL files and implentations for each action
  • tiago_dependencies dependencies for tiago robot

Experimental video

video

Compilation

Environment

  • Ubuntu 20.04
  • ROS Noetic

Clone this repo

  1. Download this repo.
  2. Install dependencies
cd <this repo>
git submodule update --init --recursive
  1. compile
catkin build

Run

Run the simulated environment

Scenario 1

roslaunch tiago_serving_demo tiago_sim.launch world:=tiago_5house_tables

Scenario 2

roslaunch tiago_serving_demo tiago_sim.launch world:=tiago_5house_tables_2objs

Run the planning node and dispatching node

Scenario 1

roslaunch tiago_demo_planning planning.launch

Scenario 2

roslaunch tiago_demo_planning planning_2objs.launch

Start executing

time rosservice call /xyz_plan_dispatch/online_dispatch

View the total time used

rostopic echo /xyz_knowledge_base/planning_time

time unit: ms

Directory structure

.
├── planning_node
│   ├── CMakeLists.txt
│   ├── files                       
│   ├── fmt-8.1.1                  
│   ├── include
│   ├── launch
│   ├── package.xml
│   └── src
│       ├── pddl_knowledge_base     # KB and the planner
│       │   ├── PDDLKnowledgeBase.cpp
│       │   ├── PDDLParser.cpp
│       │   ├── pddlparser-pp       # submodule, ExPDDL parser
│       │   └── pddl_planner.cpp    # planner algorithm
│       ├── plan_dispatch           # dispatcher
│       │   └── XYZPlanDIspatch.cpp
│       ├── planning_node           
│       ├── xyz_action_interface    # ActionInterface
│       │   └── XYZActionInterface.cpp
│       └── xyz_knowledge_base      
├── ROSPlan                         # ROS messages and services
└── tiago_demo_planning
    ├── config
    │   ├── laser_filter_config.yaml
    │   ├── map
    │   ├── rviz
    │   ├── waypoints.yaml          
    │   └── worlds
    ├── include
    ├── launch
    │   ├── planning_2objs.launch   # launch file of Scenario 1
    │   ├── planning.launch         # launch file of Scenario 2
    │   ├── sublaunch
    ├── pddl
    │   ├── domain_2objs.pddl       # ExPDDL domain of Scenario 2
    │   ├── problem_2objs.pddl      # ExPDDL problem of Scenario 2
    │   ├── domain.pddl             # ExPDDL domain of Scenario 1
    │   └── problem.pddl            # ExPDDL problem of Scenario 1
    ├── scripts
    │   └── run_demo.py             # Start executing and record time used
    └── src
        └── ActionInterface
            ├── Dummy.cpp
            ├── GotoWaypoint.cpp    
            ├── LocateTwoObjs.cpp   
            ├── Pick.cpp            
            ├── Place.cpp           
            └── WatchTable.cpp