What is ROSPlan?
The ROSPlan framework provides a collection of tools for AI Planning in a ROS system. ROSPlan has a variety of nodes which encapsulate planning, problem generation, and plan execution. It possesses a simple interface, and links to common ROS libraries.
What is it for?
ROSPlan has a modular design, intended to be modified. It serves as a framework to test new modules with minimal effort. Alternate approaches to state estimation, plan representation, dispatch and execution can be tested without having to write an entire framework.
Where to start?
The documentation gives a full description of the system, including tutorials that provides a step-by-step introduction to each node, and instructions on combining them into a complete system.
New Features in the Latest Version (June 2018)
- New tutorials and documentation to walk through each component of ROSPlan.
- The Knowledge Base now handles metrics, timed-initial-literals, and numeric expressions.
- Initial states can be loaded into the Knowledge Base directly from a PDDL problem file.
- Plan execution now fully supports temporal plans with concurrent actions and timed-initial-literals, through the ESTEREL plan dispatching.
- Multiple Knowledge Bases can now be run in parallel for systems which use multiple domains, or multiple states.
- Interfaces available for many planners (POPF, OPTIC, FF, Metric-FF, Contingent-FF, LPG, Fast Downward, TFD, SMTPlan, and UPMurphi).
- The new simulated action node can be used for testing, completing actions with a user-defined probability.
- Additional features coming soon! Stay tuned and join the google group.
A Virtual Machine with ROSPlan installed is now available! LINK