This framework incorporates Probabilistic AI Planning into ROS systems. Its default planner is Prob-PRP, a MAXPROB solver. The action dispatching interface is based on ROSPlan, Its demo is a expansion from ROSPlan Interface Quadrotor, using navigation library. This framework relays is based on the execution of a FSM given in DOT format. It includes a visualization tool based on XDot. It was implemented for ROS Indigo running on Ubuntu 14.04.
Install ROS Indigo (DOTPlan):
http://wiki.ros.org/indigo/Installation/Ubuntu
PROB-PRP dependecies (Planner):
sudo apt-get install libx32gcc-4.8-dev libc6-dev-i386
sudo apt-get install libc6-dev-i386
sudo apt-get install gcc-multilib g++-multilib
sudo apt-get install python-pip
Policy to DOT Conditional Plan dependecies (Planner-parser):
sudo pip install networkx
sudo apt-get install graphviz libgraphviz-dev graphviz-dev pkg-config
sudo pip install pygraphviz
Install Gazebo (Demos):
http://gazebosim.org/tutorials?tut=ros_installing
Hector_quadrotor (Demos):
sudo apt-get install ros-indigo-hector-quadrotor-demo
Navigation Stack (Demos):
sudo apt-get install ros-indigo-map-server ros-indigo-amcl ros-indigo-move-base ros-indigo-teleop-twist-keyboard
sudo apt-get install ros-indigo-dwa-local-planner
cd
cd catkin_ws
source devel/setup.bash
mkdir -p DOTPlan/src
cd DOTPlan/src
git clone https://github.com/nogueiravinicius/DOTplan
catkin_make
(1)stand_alone Prob-PRP:
cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot prp_plan_standalone_global.launch
(2)stand_alone PRP:
cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot prp_plan_standalone_globalFOND.launch
(3)playpen_demo:
copy all files from xdot/resources/PDDL/quad sim playpen to xdot/resources/PDDL
copy waypoints.txt from DOTPlan_Quadcopter/common/playpen to DOTPlan_Quadcopter/common
cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot roslaunch xdot prp_plan.launch
(4)city_demo:
copy all files from xdot/resources/PDDL/quadsimcity to xdot/resources/PDDL
copy waypoints.txt from DOTPlan_Quadcopter/common/city to DOTPlan_Quadcopter/common
cd
cd catkin_ws
source devel/setup.bash
roslaunch xdot roslaunch xdot prp_plan_city.launch
Prob-PRP:
https://bitbucket.org/haz/planner-for-relevant-policies/wiki/Prob-PRP
ROSPlan:
https://github.com/KCL-Planning/ROSPlan
ROSPlan Interface Quadrotor:
https://github.com/fairf4x/ROSPlan_interface_quadrotor
Husky Navigation
http://wiki.ros.org/husky_navigation
XDot
https://github.com/jrfonseca/xdot.py
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