Planning with ROSPlan

About the project

Building a simulation environment reflecting the following scenario:

• Gazebo world incl. robot, 2 rooms.
• In the initial state, the robot is in room A and each table in room A has 2 drinks.
• The goal is for the robot to check all tables in room B and ensure that each table within room B has 2 drinks.

High-level architecture

Documentation

Located at ~/rosplan_ws/src/asap/DOKU/Präsentation.pptx

Getting started

To get the project up and running, follow the instructions below.

Prerequisites

• This project was developed and tested on Ubuntu 18.04 with ROS Melodic in WSL, hence this is the recommended setup.
• Follow the instructions on the following links to install the following prerequisites:
  • WSL
  • ROS Melodic

Installation

• Create a directory for the project:

mkdir ~/rosplan_ws
cd ~/rosplan_ws

• Clone this repository:

git clone https://TODO .

• Install ROSPlan and its dependencies:

cd ~/rosplan_ws/src
git clone https://github.com/clearpathrobotics/occupancy_grid_utils
git clone https://github.com/KCL-Planning/rosplan.git
git clone https://github.com/KCL-Planning/rosplan_demos.git

• Compile the project:

cd ~/rosplan_ws
catkin build

• Source the project workspace:

source ~/rosplan_ws/devel/setup.bash

• Export turtlebot3 configuration:

export TURTLEBOT3_MODEL=waffle

Running the project

• Launch the project:

roslaunch asap start_project.launch

• For launching the project in 'explore only' mode:

First uncomment row 245 from main_executor.py and set it to False:

main_task = False

Now start the project:

roslaunch asap start_project.launch

• For launching the project in 'serve only' mode

First uncomment row 245 from main_executor.py and set it to True:

main_task = True

Now start the project:

roslaunch asap start_project.launch

Troubleshooting

• If you encounter errors with the base ROSPlan sensing interface when retrieving predicates, try the following:
  • Open the file ~/rosplan_ws/src/rosplan/rosplan_sensing_interface/scripts/sensing_interface.py
  • Change line 155 to the following:

instances = self.get_instances_srv.call(GetInstanceServiceRequest(p.value, True, True)).instances

• If you encounter errors with the base ROSPlan unable to change KB INEQUALITY Items e.g.

  (= (n_drinks tableb1) 2)

  try the following:

  • Open the file ~/rosplan_ws/src/rosplan/rosplan_knowledge_base/src/KnowledgeComparitor.cpp
  • go to Line 165.
  • Change the code from

  	case rosplan_knowledge_msgs::KnowledgeItem::INEQUALITY:
  		{
  			return true;
  		}
  		break;

  to

  	case rosplan_knowledge_msgs::KnowledgeItem::INEQUALITY:
  		{
  			// check instance knowledge
  			if(!boost::iequals(a.instance_name, b.instance_name)) return false;
  
  			// negative fact
  			if(a.is_negative != b.is_negative) return false;
  
  			return true;
  		}
  		break;

  Now ROSPlan should be able to distinguish multiple KB INEQUALITY Items.

Authors

• Ozan Anli ([email protected])
• Rico Steinke ([email protected])