Usage

Install through apt

Here we assume that the unified-planning package is already installed on your machine. Else, see below. Installation commands:

echo "deb [trusted=yes] https://raw.githubusercontent.com/aiplan4eu/UP4ROS/focal-noetic/ ./" | sudo tee /etc/apt/sources.list.d/aiplan4eu_UP4ROS.list
echo "yaml https://raw.githubusercontent.com/aiplan4eu/UP4ROS/focal-noetic/local.yaml noetic" | sudo tee /etc/ros/rosdep/sources.list.d/1-aiplan4eu_UP4ROS.list
sudo apt update
sudo apt install ros-noetic-up4ros

Install from source

This package is a ROS package. It has been developed and tested against ROS Noetic. To use up4ros, first install its dependencies (we suggest in a virtual environment):

(.venv) $ pip install unified-planning
(.venv) $ pip instal unified-planning[tamer]
(.venv) $ pip instal unified-planning[pyperplan]

At this point, you are ready to install the package in your catkin workspace. Assuming that the path of such a worspace is ~/catkin_ws and your ROS distro is noetic:

export CATKIN_WORKSPACE=~/catkin_ws
export ROS_DISTRO=noetic
rosdep update
rosdep install --from-paths $CATKIN_WORKSPACE/src/ --ignore-src --rosdistro=$ROS_DISTRO -y
cd $CATKIN_WS
bash -c "source /opt/ros/noetic/setup.bash && catkin build up_msgs up4ros --no-status --no-notify"
cd $CATKIN_WORKSPACE/src
bash -c "source ${{steps.prepare-catkin-ws.outputs.catkin_ws}}/install/setup.bash && python3 -m pytest"

Launching and solving our first planning problem

To launch our freshly installed up4ros node, run the following command:

roslaunch up4ros up4ros.launch

At this point, the action servers and services are up and can be queried.

Example query

Two example clients are provided in the package. To see how this wrapper can be used, while the up4ros node is running make sure to run:

rosrun up4ros example_client.py

If everything goes well, in the node terminal you should see:

Tamer returned: [move(l1, l2)]

which can be also found in the result received by the client.