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3rd_party packages
- [ROSPlan related packages]
- [Turtlebot3 related packages]
- [AR marker Visual Detection]
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rosplan_custom_actions
- [Custom action interfaces related packages]
- rosplan_interface_localization
- rosplan_interface_docker
- ar_dock_motion_server
- [Custom action interfaces related packages]
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rosplan_interface_custom_demo
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ar_marker_17
Please check and install the dependecies:
For ROSPlan:
sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet
please change distro from kinetic to melodic
NOTE: Before executing any turtlebot command, please add ONE
of the following line to your ~/.bashrc
export TURTLEBOT3_MODEL=burger
export TURTLEBOT3_MODEL=waffle
export TURTLEBOT3_MODEL=waffle_pi
NOTE: Please copy the ar_marker_17
folder to ~/.gazebo/models
This marker models is the 'docking station' spot for turtlebot3 in Gazebo
This turtblebot will execute rosplan actions [undock, localize, dock ] in the ROSplan in Gazebo
Terminal 1 -- To bringup Gazebo simulator and Rviz with ROSplan custom action interfaces
roslaunch rosplan_interface_custom_demo turtlebot3_dock_loc_undock.launch
Terminal 2 -- Generate plans
cd {YOUR_WORKSPACE_NAME}/src/rosplan_interface_custom_demo/scripts/
./simulated_actions.bash
This turtblebot will execute rosplan actions [goto_waypoints] in the ROSplan in Gazebo
Terminal 1 -- To bringup Gazebo simulator and Rviz with ROSplan custom action interfaces
roslaunch rosplan_interface_custom_demo turtlebot3_gt_wp.launch
Terminal 2 -- Generate plans
cd {YOUR_WORKSPACE_NAME}/src/rosplan_interface_custom_demo/scripts/
./turtlebot_explore.bash
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auto plan generation issue:
- valid plan can be generated only when using the 4 cmd in
simulated_action.bash
- when insert waypoint the plan is unsolvable
- problem raised at this link
- valid plan can be generated only when using the 4 cmd in
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Things to optimize:
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Dock action is not perfect due to using visual marker
- once the robot is near the dock , marker will disappear from camera which causes marker location undefine
- need to develop extra module to detect the robot is already at docking station
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Launching by bash file
- need to convert into python script/ launch file with service node
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