For using this mips plugin, you need to have installed in your workspace plansys2.
Visit this Web Page for more information about instalation.
1º Clone this repository into your src workspace directory:
git clone https://github.com/isacg5/ros2_planning_system_mips.git
2º Move the plansys2_mips_plan_solver directory into the ros2_planning_system one:
mv ~/myworkspace/src/ros2_planning_system_mips/plansys2_mips_plan_solver ~/myworkspace/src/ros2_planning_system
3º Add the following lines at the end of the file plansys2_params.yaml located in ros2_planning_system/plansys2_bringup/params/ directory:
MIPS:
plugin: "plansys2/MIPSPlanSolver"
And change the default plugin:
plan_solver_plugins: ["MIPS"]
4º Compile your workspace:
cd ~/myworkspace
colcon build
5º Download the planner by clicking on mips_xxl.
6º Add to ~/.bashrc the location of the planner executable in MIPS_XXL variable. For example:
echo 'export MIPS_XXL=/home/myuser/bin/mips_xxl' >> ~/.bashrc
and open a new terminal.
7º Grant execution permissions.
chmod +x $MIPS_XXL
1º Download this domain: example.
2º Open terminal and execute:
ros2 launch plansys2_bringup plansys2_bringup_launch_distributed.py model_file:=/home/myuser/bin/viajes_domain_durative_actions.pddl
Remember to change the model_file path to the location where the domain is.
3º Open a new terminal and execute:
ros2 run plansys2_terminal plansys2_terminal
4º You can test the above example by running these commands.
- :strips
- :typing
- :disjunctive-preconditions
- :equality
- :existential-preconditions
- :universal-preconditions
- :quantified-preconditions
- :conditional-effects
- :action-expansions
- :foreach-expansions
- :dag-expansions
- :domain-axioms
- :subgoal-through-axioms
- :safety-constraints
- :expression-evaluation
- :fluents
- :open-world
- :true-negation
- :adl
- :ucpop
- :numeric-fluents
- :durative-actions
- :continuous-effects
- :negative-preconditions
- :derived-predicates
- :timed-initial-literals
- :constraints
- :preferences
- :action-costs
- :goal-utilities
- Juan Carlos Manzanares Serrano - @Juancams
- Marina Gil Pensado - @marinagilpen
- Isabel Cebollada Gracia - @isacg5
- Noel Jimenez Garcia - @noel215