Plansys2 on Astrobee Noetic #107
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation.
Adding planning domain, problem, and xml of the atomic actions of the robotic agents
… surveys by Marina - unfortunately causes additional planner flakiness
Attempt at a complete MVP domain model for survey planning
Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation.
NOTE: If already installed, remove V3 before installing V4
trey0
reviewed
Nov 21, 2023
Abster101
reviewed
Nov 28, 2023
Abster101
approved these changes
Nov 28, 2023
- Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal)
trey0
reviewed
Dec 7, 2023
Bckempa
force-pushed
the
survey_planner
branch
from
a0fd850
to
1faed30
Compare
If you have already built your VM, run `sudo apt install libreadline-dev`
trey0
reviewed
Dec 7, 2023
There was a problem hiding this comment.
Per the meeting notes here (find in page "Writing action executors"), I think we may not need these behavior tree node definitions anymore.
Instead, if we agree on the approach recommended there, we would write an ActionExecutorClient subclass that invokes Marina's Python action executor script, and a corresponding ROS node to wrap around it. And then I guess launch multiple instances of that node, configured to respond to different action types. (Or maybe it's cleaner for one ROS node to wrap multiple clients.)
marinagmoreira
added a commit
that referenced
this pull request
Jan 3, 2024
* Plansys2 on Astrobee Noetic (#107) * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds --------- Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> * Update ci_pr.yml make survey manager PR's run CI * problem_generator.py: Simplified config, and runs with default args again * Removed run number argument from planner actions * Add support for PlanSys2 terminal output; remove num-orders from config * Refactor problem_generator.py to more cleanly support two output formats * plan_interpreter.py works with default arguments again * Update .isort.cfg using scripts/git/configure_isort_paths.sh * jem_survey_dynamic.yaml: Remove unused run parameter. * Fix legacy isort styling error in unrelated file so lint passes * Added let-other-robot-reach constraint so we can solve the full problem with POPF/OPTIC * Fix pylint and mypy complaints * Make predicates on one line. * update submodules * update submodule --------- Co-authored-by: Bckempa <Bckempa@users.noreply.github.com> Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> Co-authored-by: Brian Coltin <brian.coltin@nasa.gov>
marinagmoreira
added a commit
that referenced
this pull request
Jan 5, 2024
* Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds * Plansys2 on Astrobee Noetic (#107) * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds --------- Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> * Update ci_pr.yml make survey manager PR's run CI * problem_generator.py: Simplified config, and runs with default args again * Removed run number argument from planner actions * Add support for PlanSys2 terminal output; remove num-orders from config * Refactor problem_generator.py to more cleanly support two output formats * plan_interpreter.py works with default arguments again * Update .isort.cfg using scripts/git/configure_isort_paths.sh * jem_survey_dynamic.yaml: Remove unused run parameter. * Fix legacy isort styling error in unrelated file so lint passes * Remove newlines in PDDL domain predicates to work around [1] [1] PlanSys2/ros2_planning_system#286 * Setup planner stack for action tests * Move submodules to avoid nested catkin packages * Added let-other-robot-reach constraint so we can solve the full problem with POPF/OPTIC * Fix pylint and mypy complaints * Add `popf` package and remove vendored solver in favor of built binary * Update plansys2 backport to fix domain validation and parameters * Make predicates on one line. * Update vendored libraries for cross compilation * making submodules their own folder for organization * updating submodule + fix bug in cmake * only check isort files that were modified * src dir doesn't exist anymore and usually not in include * fix gitmodules link * fixing PR CI --------- Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> Co-authored-by: Marina Moreira <67443181+marinagmoreira@users.noreply.github.com> Co-authored-by: Brian Coltin <brian.coltin@nasa.gov> Co-authored-by: Marina Moreira <marina.moreira@nasa.gov>
marinagmoreira
added a commit
that referenced
this pull request
Jan 20, 2024
* making spawn changes and adding double handed cargo * adding a proof of concept example of the executor * running through isort * committing before changing things around * sockets working * fix lint * adding example action node * update to scripts with new requirements * thread join safeguard * running isort * Plansys2 on Astrobee Noetic (#107) * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Add files via upload Adding planning domain, problem, and xml of the atomic actions of the robotic agents * added files to the correct directory * adding soft constraints problem files * Attempt at a complete MVP domain model * Oops, remove redundant effect * Simplified collision checking predicate * In a working state * Add sample_output_plan.txt * Oops, remove obsolete commented-out code * Fixed stereo survey part of the model based on analysis of old stereo surveys by Marina - unfortunately causes additional planner flakiness * Update sample_output_plan.txt to reflect latest domain/problem * Now generate PDDL problem from higher-level problem specification * Tune panorama estimated duration * Add plan_interpreter.py. Minor cleanup in problem_generator.py * Simplify dynamic config just a bit * Add `survey_manager` subdirectory without layout for survey nodes Includes placeholder directories with hyperlinked `readme.md` files in the documentation hierarchy for the manger, planner, and bridge. Per discussion with @marinagmoreira `survey_manager` lives under `astrobee` to signify the code is intended for cross-compilation. * Improve linking to survey manager docs * Remove `survey_bridge` capability will be added to `astrobee` * Add traclabs plansys2 backport via submodule, thanks @ana-GT * Move sub-modules to `survey_manager` path * Upgrade behaviortree to V4 NOTE: If already installed, remove V3 before installing V4 * Cleanup unused, misplaced sub-modules, again. * Remove `survey_manager` package and organize `survey_planner` * Deprecate Ubuntu-16.04 (xenial) builds of Isaac to support Plansys2 - Remove Ubuntu-16.04 (xenial) CI builds - Update dockerfile ubuntu version defaults to Ubuntu-20.04 (focal) - Update apk build environment to Ubuntu-20.04 (focal) * Fix python formatting * Update to forks of traclabs backports * Add readline development files to setup for plansys2 terminal interface If you have already built your VM, run `sudo apt install libreadline-dev` * Removed outdated PDDL files per @trey0 #107 (comment) * Revert CI upgrades for APK builds --------- Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> * bug fixes * fixes * Update ci_pr.yml make survey manager PR's run CI * moving executor to different package hierarchy * consolidating packages; action compiling * tested action * submodule update * move scripts into package * changing static config to be more general * fixing config name + install data folder * restoring comms to readline * getting details sorted * making output more readable * installing script to be found in robot install * adding move action starting correct process * adding parameters for easy testing * fixes on command astrobee * add remaining actions + documentation * running isort * Use exec and waitpid instead of reading output. * Change all action nodes to use the same class. * install all nodes * adding remote option with no parameter adjusting, we'll do panoramas using geometry * reset progress after one action * adding inspection lib; fixing output * fixing robot install * tested all 5 actions in the granite table * remote plansys2 submodules from doxygen * splitting documentation * addressing tons of comments on PR, lab tested * more PR reviews * more PR reviews * more PR reviews --------- Co-authored-by: Bckempa <Bckempa@users.noreply.github.com> Co-authored-by: Abiola Akanni <Aoakanni@smcm.edu> Co-authored-by: Trey Smith <trey.smith@nasa.gov> Co-authored-by: Brian Coltin <brian.coltin@nasa.gov>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Provides PDPL planning and behavior tree executors using plansys2 back ported to ROS1 by @ana-GT.
Note that this adds two submodules that will need to be initialized and synced as well as a new
aptinstalled system dependencyros-noetic-behaviortree-cpp-v3that should be installed manually on systems that have already worked though the setup scripts processes.