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plansys2_multidomain_example package from ros2_planning_system_examples repoplansys2_bt_example plansys2_cascade_example plansys2_multidomain_example plansys2_patrol_navigation_example plansys2_simple_example plansys2_simple_example_py |
Package Summary
| Tags | No category tags. |
| Version | 0.0.4 |
| License | Apache License, Version 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/plansys2/ros2_planning_system_examples.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2025-03-08 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
A simple example of ROS2 Planning System
Additional Links
No additional links.
Maintainers
- Francisco Martin Rico
Authors
No additional authors.
PlanSys2 Multidomain Example
Description
This example shows how to use multiple PDDL domains, which are mixed at the beginning of the execution.
- domain1.pddl: This domain contains all related to robot navigation
- domain2.pddl: This domain contains all related to object manipulation
We will use the PlanSys2 Terminal to insert commands. Actions simulate their execution.
How to run
In terminal 1:
ros2 launch plansys2_multidomain_example plansys2_multidomain_example_launch.py
In terminal 2:
ros2 run plansys2_terminal plansys2_terminal # enters in PlanSys2 Terminal
get domain # Checks that both domains are correctly mixed
set instance leia robot
set instance entrance room
set instance kitchen room
set instance bedroom room
set instance dinning room
set instance bathroom room
set instance chargingroom room
set instance object1 pickable_object
set predicate (connected entrance dinning)
set predicate (connected dinning entrance)
set predicate (connected dinning kitchen)
set predicate (connected kitchen dinning)
set predicate (connected dinning bedroom)
set predicate (connected bedroom dinning)
set predicate (connected bathroom bedroom)
set predicate (connected bedroom bathroom)
set predicate (connected chargingroom kitchen)
set predicate (connected kitchen chargingroom)
set predicate (charging_point_at chargingroom)
set predicate (battery_low leia)
set predicate (robot_at leia entrance)
set predicate (object_at_room object1 bedroom)
set goal (and(object_at_room object1 bathroom)) # Sets the goal
get plan # Creates plan and shows it
run # Creates plan and runs it
CHANGELOG
\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^ Changelog for package plansys2_multidomain_example \^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^\^
0.0.4 (2020-01-09)
0.0.3 (2020-01-09)
0.0.2 (2020-01-08)
- Package description Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
- Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
- Setting CI Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
- First functional version complete Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
- Execute actions independiently. Example Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
- Contributors: Francisco Martin Rico
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| plansys2_bringup | |
| plansys2_terminal | |
| ament_lint_common | |
| ament_lint_auto | |
| ament_cmake_gtest | |
| rclcpp | |
| rclcpp_action | |
| plansys2_msgs | |
| plansys2_executor |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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