Plan solver for ROS2 Planning System that uses OPTIC for solving PDDL plans.
Download and compile OPTIC, for more information visit OPTIC Homepage.
To execute OPTIC from any path you must create the following symbolic link where "optic_path" is the path where your executable is located.
ln -s optic_path optic
Clone ROS2 Planning System in your ROS2 workspace. For more information plansys2.
Clone this repository in your ROS2 workspace
git clone https://github.com/jmrtzma/plansys2_optic_plan_solver
Add to file ros2_planning_system/plansys2_bringup/params/plansys2_params.yaml the OPTIC plugin like this
planner:
ros__parameters:
plan_solver_plugins: ["OPTIC"]
POPF:
plugin: "plansys2/POPFPlanSolver"
TFD:
plugin: "plansys2::TFDPlanSolver"
OPTIC:
plugin: "plansys2/OPTICPlanSolver"
| Requirements | Supported? |
|---|---|
| PDDL 1.2 | |
| :strips | Yes |
| :typing | Yes |
| :disjunctive-preconditions | No |
| :equality | Yes |
| :existential-preconditions | No |
| :universal-preconditions | Yes |
| :conditional-effects | No |
| :domain-axioms | No |
| :subgoals-through-axioms | No |
| :safety-constraints | No |
| :open-world | No |
| :quantified-preconditions | No |
| :adl | No |
| :ucpop | No |
| PDDL 2.1 | |
| :numeric-fluents | Yes |
| :durative-actions | Yes |
| :duration-inequalities | Yes |
| :continuous-effects | Yes |
| :negative-preconditions | No |
| PDDL 2.2 | |
| :derived-predicates | No |
| :timed-initial-literals | Yes |
| PDDL 3 | |
| :constraints | Yes |
| :preferences | Yes |
| PDDL 3.1 | |
| :action-costs | Yes |
| :goal-utilities | No |
| PDDL+ | |
| :time | No |
- Carlos Caminero Abad @Carlosalpha1
- Paula Martínez Pérez @paulamartinezperez
- María Marcos Hidalgo @mariamhidalgo
- Javier Martínez Madruga @jmrtzma