PlanSys2 Patrol Navigation Example

Description

(Requires EasyNav; without it, move_action_node is not built)

This example shows:

• How to use an application to initiate knowledge (the PDDL problem) and control its execution flow.
• How to navigate with EasyNav, using easynav_system::GoalManagerClient

The patrolling_controller_node node must be run separately. Use the PlanSys2 API to populate instances, predicates, and goals. Implement a finite state machine to establish as a goal which waypoint to patrol. Patrolling a waypoint is going to that point and turning around for a few seconds. While it patrols, it shows the navigation feedback of EasyNav every 2 seconds: a subscription of the controller, served by the executor that spins its node in the loop of main (the PlanSys2 clients bring their own answers).

How to run

With a simulated navigation

In terminal 1:

ros2 launch plansys2_patrol_navigation_example patrol_example_fakesim.launch.yaml

In terminal 2:

ros2 run plansys2_patrol_navigation_example patrolling_controller_node

With a simulated robot

It needs the kobuki playground of easynav_playgrounds and the EasyNav plugins it uses. All at once (Gazebo, EasyNav, PlanSys2 and the controller; gui:=false runs Gazebo headless):

ros2 launch plansys2_patrol_navigation_example patrol_example_kobuki.launch.yaml

Or step by step. In terminal 1, the kobuki playground:

ros2 launch easynav_playground_kobuki easynav_costmap_rpp.launch.yaml

In terminal 2 (waypoints_file sets the waypoints for another map):

ros2 launch plansys2_patrol_navigation_example patrol_example.launch.yaml

In terminal 3:

ros2 run plansys2_patrol_navigation_example patrolling_controller_node

Changelog for package plansys2_patrol_navigation_example

0.0.4 (2020-01-09)

0.0.3 (2020-01-09)

0.0.2 (2020-01-08)

• Package description Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Merge pull request #15 from IntelligentRoboticsLabs/example_rename Rename example. Small bug in timeouts
• Rename example. Small bug in timeouts Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Merge pull request #13 from IntelligentRoboticsLabs/change_example_name Change name of example
• Change name of example Signed-off-by: Francisco Martin Rico <<fmrico@gmail.com>>
• Contributors: Francisco Martin Rico, Francisco Martín Rico