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 the PlanSys2 branch matching your ROS 2 distribution (e.g. rolling, kilted, jazzy, or humble-devel) 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 -b <ros2-distro-branch> https://github.com/PlanSys2/ros2_planning_system.git

# Optional
git clone -b <ros2-distro-branch> https://github.com/PlanSys2/plansys2_tfd_plan_solver.git
git clone -b <ros2-distro-branch> https://github.com/PlanSys2/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

Replace <ros2-distro-branch> with rolling if you are tracking ROS 2 Rolling, or with <ros2-distro>-devel (e.g. kilted-devel, jazzy-devel, humble-devel) for a stable distribution.