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Turtlebot3与仿真-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

  • 测试环境:Ubuntu 16.04 + ROS Kinetic

操作步骤

  • 安装依赖
$ sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet
  • 安装rosplan功能包
 $ cd ~/catkin_ws/src && git clone https://github.com/KCL-Planning/rosplan
 $ cd ~/catkin_ws && catkin_make
  • 安装turtlebot3 gazebo simulator仿真
$ sudo apt install ros-${ROS_DISTRO}-turtlebot3-gazebo ros-${ROS_DISTRO}-turtlebot3-navigation ros-${ROS_DISTRO}-move-base-msgs
  • 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
  • 启动仿真,rviz可视化,ROSPlan节点
$ roslaunch rosplan_turtlebot3_demo turtlebot.launch
  • 调用生成的规划进行探索
$ rosrun rosplan_turtlebot3_demo turtlebot_explore.bash
  • 测试自定义的导航点
$ rosed rosplan_turtlebot3_demo waypoints.yaml
$ rosrun rosplan_turtlebot3_demo turtlebot_explore_wp_from_file.bash

参考链接

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