rosplan_dorna

Installation

Firstly install the ROSPlan software from https://github.com/KCL-Planning/ROSPlan.

Move into the packages folder and clone this package

cd ROSPlan/src
git clone https://github.com/christka1/rosplan_dorna

Compile the package

cd ..
catkin build rosplan_dorna

Make sure that the bridge tries to connect to the correct ROS master node

Running

Start the simulation environment and the bridge. Source the correct workspace

Start the ROSPlan tool and sensing interface:

roslaunch rosplan_dorna rosplan_sensing.launch

Once that is running, start the action interface:

rosrun rosplan_dorna action_interface.py

To run one of the scenarios, choose scenario 1-3:

rosrun rosplan_dorna scenarios.py 3

1 = scanning test 2 = pick-up test 3 = sorting test (complete run-through)