Planning core

Handles plan generation, execution, monitoring and replanning (if needed)

Dependencies

• mir_planning_msgs

• mir_states

• mir_pddl_problem_generator (PDDL problem generator)

• mir_task_planning (Task planning)

• mir_planner_executor (Planner executor)

• Optionally (with real robot) mir_actions (Actions)

Usage

This is not a standalone package (but it acts like a coordinator) and thus it should not be executed without its dependencies.

To test with mockup action servers without a robot

roscore
roslaunch mir_planning_core task_planning_components.launch
rosrun mir_task_executor task_executor_mockup
roslaunch mir_task_planning upload_problem.launch
roslaunch mir_planning_core task_planning_sm.launch