Turtlebot3中级教程-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

• [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turtlebot3 gazebo simulator仿真

$ sudo apt install ros-${ROS_DISTRO}-turtlebot3-gazebo ros-${ROS_DISTRO}-turtlebot3-navigation ros-${ROS_DISTRO}-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

• [Remote PC] 启动roscore

$ roscore

• [TurtleBot] 启动burger

$ roslaunch turtlebot3_bringup turtlebot3_robot.launch

• [Remote PC] 启动导航

$ roslaunch turtlebot3_navigation turtlebot3_navigation.launch map_file:=$HOME/map.yaml open_rviz:=false

• [Remote PC] 启动rviz可视化，ROSPlan节点

$ roslaunch rosplan_turtlebot3_demo turtlebot.launch

• [Remote PC] 调用生成的规划进行探索

$ rosrun rosplan_turtlebot3_demo turtlebot_explore.bash

• [Remote PC] 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