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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

操作步骤

  • 从机,安装依赖
$ sudo apt install flex bison freeglut3-dev libbdd-dev python-catkin-tools ros-$ROS_DISTRO-tf2-bullet
  • 从机,安装rosplan功能包
 $ cd ~/catkin_ws/src && git clone https://github.com/KCL-Planning/rosplan
 $ cd ~/catkin_ws && catkin_make
  • 从机,安装turtlebot gazebo simulator仿真
$ sudo apt install ros-kinetic-turtlebot-gazebo ros-kinetic-turtlebot-navigation ros-kinetic-move-base-msgs
  • 从机,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
  • 主机,新终端执行,启动底盘
$ roslaunch turbot_bringup minimal.launch
  • 主机,新终端执行,启动amcl
$ roslaunch turtlebot_navigation amcl_demo.launch map_file:=/home/ubuntu/map/zhizaokongjian.yaml
  • 从机,启动rviz可视化,ROSPlan节点
$ roslaunch rosplan_turtlebot2_demo turtlebot.launch
  • 从机,调用生成的规划进行探索
$ rosrun rosplan_turtlebot2_demo turtlebot_explore.bash
  • 从机,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

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标签: turbot中级教程