Turbot中级教程-应用-ROSPlan 任务规划

Turbot中级教程-应用-ROSPlan 任务规划

说明

• ROSPlan框架提供了用于在ROS系统中任务规划的通用方法

• ROSPlan连接了两个标准 PDDL2.1和ROS，这两个标准封装了规划和调度

前提准备

• [Remote PC] 安装依赖

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

• [Remote PC] 安装rosplan功能包

 $ cd ~/catkin_ws/src && git clone https://github.com/KCL-Planning/rosplan
 $ cd ~/catkin_ws && catkin_make

• [Remote PC] 安装turtlebot gazebo simulator仿真

$ sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-navigation ros-kinetic-move-base-msgs

• [Remote PC] 安装依赖和rosplan_demos

$ cd ~/catkin_ws/src
$ git clone https://github.com/clearpathrobotics/occupancy_grid_utils
$ git clone https://github.com/KCL-Planning/rosplan_demos.git
$ cd ~/catkin_ws && catkin_make

操作步骤

• [Turbot] 新终端执行，启动底盘

$ roslaunch turbot_bringup minimal.launch

• [Turbot] 新终端执行，启动amcl

$ roslaunch turbot_slam amcl_demo.launch map_file:=/home/ubuntu/map/zhizaokongjian.yaml

• [Remote PC] 启动rviz可视化，ROSPlan节点

$ roslaunch rosplan_turtlebot2_demo turtlebot.launch

• [Remote PC] 调用生成的规划进行探索

$ rosrun rosplan_turtlebot2_demo turtlebot_explore.bash

• [Remote PC] 测试自定义的导航点

$ rosed rosplan_turtlebot2_demo waypoints.yaml
$ rosrun rosplan_turtlebot2_demo turtlebot_explore_wp_from_file.bash