/ROSPlan

The ROSPlan framework provides a generic method for task planning in a ROS system.

Primary LanguageC++BSD 2-Clause "Simplified" LicenseBSD-2-Clause

ROSPlan Framework

Build status Test status

The main ROSPlan website and documentation is available here.

The ROSPlan framework provides a generic method for task planning in a ROS system. ROSPlan encapsulates both planning and dispatch. It provides with a simple interface, and already includes interfaces to common ROS libraries.

ROSPlan Demos:

Several demos are available in the rosplan_demos repository. More will be added over time.

Installation

ROSPlan supports kinetic and melodic ROS distributions and is developed under Ubuntu 16.04 / 18.04, being linux Ubuntu 18.04 + melodic the recommended setup.

Install dependencies:

sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet

Select or create a catkin workspace:

mkdir -p ROSPlan/src
cd ROSPlan/

Get the code:

cd src/
git clone https://github.com/KCL-Planning/rosplan

Compile everything:

catkin build

Running a demo with the turtlebot 2, using Gazebo simulator (kinetic only)

This demo has been migrated to a separate repo, please follow up this link: rosplan_demos

Related repositories: