Build and Install

Install

PlanSys2 and its dependencies are released as binaries. You may install it via the following to get the latest stable released version:

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

Build

Install ROS

Please install ROS 2 via the usual build instructions for your desired distribution.

Build PlanSys2

Create a new workspace, plansys2_ws, and clone PlanSys2 master branch into it and build it. Optionally, you can also include the TFD plan solver (you should install TFD first) and the examples.

mkdir -p ~/plansys2_ws/src
cd ~/plansys2_ws/src
git clone https://github.com/IntelligentRoboticsLabs/ros2_planning_system.git

# Optional
git clone https://github.com/IntelligentRoboticsLabs/plansys2_tfd_plan_solver.git
git clone https://github.com/IntelligentRoboticsLabs/ros2_planning_system_examples.git

cd ~/plansys2_ws
rosdep install -y -r -q --from-paths src --ignore-src --rosdistro <ros2-distro>
colcon build --symlink-install

• If you don’t want to use master branch, you can use foxy-devel branch instead.

• if your are using eloquent, you should clone the eloquent-devel of the first two repositories (no TFD available for this distro).