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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

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:

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