DOTPlan Framework for ROS Systems

This framework incorporates Probabilistic AI Planning into ROS systems. Its default planner is Prob-PRP, a MAXPROB solver. The action dispatching interface is based on ROSPlan, Its demo is a expansion from ROSPlan Interface Quadrotor, using navigation library. This framework relays is based on the execution of a FSM given in DOT format. It includes a visualization tool based on XDot. It was implemented for ROS Indigo running on Ubuntu 14.04.

Components

XDotViz

Action Server

RQT interface

## Demos

Playpen

City

Install

Dependencies

Install ROS Indigo (DOTPlan):

http://wiki.ros.org/indigo/Installation/Ubuntu

PROB-PRP dependecies (Planner):

sudo apt-get install libx32gcc-4.8-dev libc6-dev-i386
sudo apt-get install libc6-dev-i386
sudo apt-get install gcc-multilib g++-multilib
sudo apt-get install python-pip

Policy to DOT Conditional Plan dependecies (Planner-parser):

sudo pip install networkx
sudo apt-get install graphviz libgraphviz-dev graphviz-dev pkg-config
sudo pip install pygraphviz

Install Gazebo (Demos):

http://gazebosim.org/tutorials?tut=ros_installing

Hector_quadrotor (Demos):

sudo apt-get install ros-indigo-hector-quadrotor-demo

Navigation Stack (Demos):

sudo apt-get install ros-indigo-map-server ros-indigo-amcl ros-indigo-move-base ros-indigo-teleop-twist-keyboard
sudo apt-get install ros-indigo-dwa-local-planner

Compiling Source

cd
cd catkin_ws
source devel/setup.bash
mkdir -p DOTPlan/src
cd DOTPlan/src
git clone https://github.com/nogueiravinicius/DOTplan
catkin_make

Running

(1)stand_alone Prob-PRP:

cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot prp_plan_standalone_global.launch

(2)stand_alone PRP:

cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot prp_plan_standalone_globalFOND.launch

(3)playpen_demo:

copy all files from xdot/resources/PDDL/quad sim playpen to xdot/resources/PDDL

copy waypoints.txt from DOTPlan_Quadcopter/common/playpen to DOTPlan_Quadcopter/common

cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot roslaunch xdot prp_plan.launch

(4)city_demo:

copy all files from xdot/resources/PDDL/quadsimcity to xdot/resources/PDDL

copy waypoints.txt from DOTPlan_Quadcopter/common/city to DOTPlan_Quadcopter/common

cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot roslaunch xdot prp_plan_city.launch

References

Prob-PRP:

  https://bitbucket.org/haz/planner-for-relevant-policies/wiki/Prob-PRP

ROSPlan:

  https://github.com/KCL-Planning/ROSPlan

ROSPlan Interface Quadrotor:

 https://github.com/fairf4x/ROSPlan_interface_quadrotor

Husky Navigation

 http://wiki.ros.org/husky_navigation

XDot

https://github.com/jrfonseca/xdot.py

jginesclavero/DOTplan