Getting Started

This page installs PlanSys2 and runs its first example: a robot that plans and executes how to go from one room to another, recharging its battery on the way.

Installation

  1. Install ROS 2 as described in the official documentation.

  2. Install PlanSys2:

    sudo apt install 'ros-<distro>-plansys2-*'

    Note

    4.0.0 reaches the binaries of each distribution with its next sync: until then, apt installs the previous release. To use 4.0.0 now, build it from source as Build and Install explains.

  3. Clone the examples in a workspace and build them:

    mkdir -p ~/plansys2_ws/src
cd ~/plansys2_ws/src
git clone -b <distro> https://github.com/PlanSys2/ros2_planning_system_examples.git
cd ~/plansys2_ws
rosdep install -y -r -q --from-paths src --ignore-src
colcon build --symlink-install

Running the example

  1. In a terminal, start PlanSys2 with the domain of the example and the processes that perform its actions (simulated: each one takes the time the plan gives it):

    source ~/plansys2_ws/install/setup.bash
ros2 launch plansys2_simple_example plansys2_simple_example.launch.yaml

  2. In another terminal, open the PlanSys2 terminal:

    source ~/plansys2_ws/install/setup.bash
ros2 run plansys2_terminal plansys2_terminal

  3. Load the problem of the example: its rooms, the robot leia at the entrance with low battery, and the goal of being in the bathroom. The commands are in the commands file of the example, which source runs:

    source <path to plansys2_simple_example>/share/plansys2_simple_example/launch/commands

    ros2 pkg prefix plansys2_simple_example tells the path. The file contains commands such as:

    set instance leia robot
set instance entrance room
set predicate (connected entrance dinning)
set predicate (battery_low leia)
set predicate (robot_at leia entrance)
set goal (and(robot_at leia bathroom))

  4. To watch the plan run, open the TUI in a third terminal (it does not run on Humble: see Migrating to 4.0.0):

    source ~/plansys2_ws/install/setup.bash
ros2 run plansys2_tui_cli plansys2_tui

    Its Plan Monitor panel shows the plan being executed and the progress of each action, Action Execution which performer runs each action, and Knowledge how the problem changes. The Plan log tab (key 2) tells, as they happen, what the executor does and why.

  5. In the PlanSys2 terminal, ask for a plan, and run it:

    get plan
run

    The terminal shows the progress of each action, and Successfully finished at the end; the TUI shows the same, action by action.

What next