Hybrid-ASP-Planning

This repository presents the Hybrid-ASP planning approach that facilitates task planning with missing task-relevant information. It integrates a deterministic task planner POPF for generating an initially valid task plan for task achievement and a logic-based Answer Set Planner to make observation plans. In the following, we present a brief tutorial for running the demonstrating example of indoor navigation by a Turtlebot3 robot in the Gazebo simulation environment.

Requirements

Ubuntu 16.04 + ROS Kinetic

Installation

1. Install essential ros packages for Turtlebot3 waffle simulation in Gazebo

The Turtlebot3 waffle robot is a wheeled robot that equips with camera and laser sensors, as well as the move base for moving around. We select this robot model to perform the indoor navigation task in the Gazebo simulator.

sudo apt-get install ros-kinetic-joy ros-kinetic-teleop-twist-joy ros-kinetic-teleop-twist-keyboard ros-kinetic-laser-proc ros-kinetic-rgbd-launch ros-kinetic-depthimage-to-laserscan ros-kinetic-rosserial-arduino ros-kinetic-rosserial-python ros-kinetic-rosserial-server ros-kinetic-rosserial-client ros-kinetic-rosserial-msgs ros-kinetic-amcl ros-kinetic-map-server ros-kinetic-move-base ros-kinetic-urdf ros-kinetic-xacro ros-kinetic-compressed-image-transport ros-kinetic-rqt-image-view ros-kinetic-gmapping ros-kinetic-navigation ros-kinetic-interactive-markers

A detailed description regarding the installation and configuration of Turtlebot3 simulation in Gazebo can be referred to https://www.ncnynl.com/turtlebot3.html

2. Install essential ros packages for ROSPlan framework

The ROSPlan framework provides a generic method for task planning in a ROS system. We utilize the POPF planner that embedded as one PlannerInterface for task-achievement goal planning. It is thus essential to install the basic packages of ROSPlan.

The detailed description regarding the core library of ROSPlan framework can be found at https://github.com/KCL-Planning/ROSPlan, and the repository for ROSPlan demos of turtlebot3 navigation can be found at https://github.com/KCL-Planning/rosplan_demos. Both repository need to be installed for futher steps. Note: In our repository, we have modified the ActionInterface and the DispatchInterface for implementing the extra plan execution monitoring functions.

3. Install the essential libraries for ros(o)clingo

The ros(o)clingo provides a generic way by which an ASP program may be used within the popular open-source Robot Operating System (ROS).To be more precise, the ros(o)cling package integrates the ASP solver clingo 4 into the ROS service and actionlib architecture. The ros(o)cling package is specialized for the purpose of (interactive) task planning for robots. By running as a ROS actionlib ROSoClingo provides an elegant way to processes observations and requests issued. ros(o)cling provides a number of solving modes specialized for different user scenarios and allows for an easy customation of the solving precedure.

Setup necessary libraries

Install the basic compilers and parsers

sudo apt-get install gcc-4.8 <br>
sudo apt-get install g++-4.8
sudo apt-get install bison
sudo apt-get install re2c
sudo apt-get install scons

Download and build gringo.so python module

To get the gringo python module (4.5.4), please visit https://sourceforge.net/projects/potassco/files/gringo/4.5.4/ and download the gringo files. Unpack the archive, cd into the unpacked folder (gringo-4.5.4-source), and do the following:

scons configure --build-dir=release

Then configure the build/release.py file. Assuming you are using python2.7 and it is located in /usr/include/python2.7 modify the following variables in build/release.py:

CPPPATH = ['/usr/include/python2.7']
WITH_PYTHON = 'python2.7'
WITH_TBB = 'tbb'

Now run:

scons --build-dir=release pyclingo

Finally, add to ~/.bashrc the line - replacing ${GRINGO_PATH} with the path to the gringo-4.5.4 source folder:

PYTHONPATH=$PYTHONPATH:${GRINGO_PATH}/build/release/python/

Build ROSClingo

cd ${CATKIN_PATH}/src
wget https://www.cs.uni-potsdam.de/wv/projects/rosoclingo/rosclingo-2.0.tar.xz
tar -zxvf rosclingo.tar.gz
cd ..
catkin_make

Install ROSoClingo

After ROSClingo is installed correctly download and install ROSoClingo - replacing ${CATKIN_PATH} with the path for your catkin workspace:

cd ${CATKIN_PATH}/src
wget https://www.cs.uni-potsdam.de/wv/projects/rosoclingo/rosoclingo-2.0.tar.xz
tar -zxvf rosoclingo.tar.gz
cd ..
catkin_make

For more detailed description regarding the installation and usages of ros(o)clingo, please refer to https://www.cs.uni-potsdam.de/wv/rosoclingo/.

Running steps

launch the turtlebo3 gazebo controller roslaunch rosplan_turtlebot3_demo turtlebot_main.launch
launch the ASP solver rosrun rosoclingo-1.0 run-1.0.py --file ../mailbot/instances/graph_wp.lp --file ../mailbot/turtlebot3_asp_model.lp