ROS Interface for Temporal Task Planner
@article{guo2015multi,
title={Multi-agent plan reconfiguration under local LTL specifications},
author={Guo, Meng and Dimarogonas, Dimos V},
journal={The International Journal of Robotics Research},
volume={34},
number={2},
pages={218--235},
year={2015},
publisher={SAGE Publications Sage UK: London, England}
}
This package contains an example interface between the temporal planner P_MAS_TG and ROS. It serves as an on-line planner that receives motion and action confirmation from actuation modules and updates the next move for the robot.
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Fully support any feature included in the P_MAS_TG module.
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Easy integration with any motion capture system or low-level motion controller via ROS.
# publish to actuation modular for motion and action
activity_pub = rospy.Publisher('next_move_%s' %letter, activity, queue_size=10)
# subscribe to motion and action module for confirmation
rospy.Subscriber('activity_done_%s' %letter, confirmation, confirm_callback)
# subscribe to sensory module for workspace model update
rospy.Subscriber('knowledge_%s' %letter, knowledge, knowledge_callback)
- Two-cemera locationization system based on ar_pose, see tf2pose_for_two.py for detials.
- P_MAS_TG module. See details for how to build your own case there.
catkin_make
in yourcatkin_ws
- Check init.py for defining agent models.
- Run planner.py under ROS with the robot name as arugment.