The software for IROS2023 paper: An interactive system for multiple-task linear temporal logic path planning.

The supplementary video can be viewed here:

functionality

• Sampling-based LTL path planning
• Task switching
• Human-machine interface

install

3rd party dependancies

pip install numpy networkx itertools matplotlib ply pybullet

ltl2dfa

sudo apt-get install flex -y
sudo apt-get install bison -yx
sudo apt-get install byacc -y
git clone https://github.com/whitemech/LTLf2DFA.git
cd ltlf2dfa
pip install .

ltl2ba

follow $(PROJECT_PATH)/src/formula_parser/install_ltl2ba/README.txt.

Folder configuration

Replace folder name in workspace.py and gazebo_HMI_plugin.py. A quick way is to search '/home/joseph/yzchen_ws'.

Experiment with the whole system

[optional when doing simulation] launch a gazebo environment

run modules like localization, mapping, and motion planning

./start nndp

launch HMI

cd /home/joseph/yzchen_ws/task_planning/ltl_interface/
source devel/setup.bash
rqt

Then open the plugin in rqt: 'LTL task planning'

launch the teleoperation service

cd /home/joseph/yzchen_ws/task_planning/ltl_interface/
source devel/setup.bash
python /home/joseph/yzchen_ws/task_planning/ltl_interface/src/remote_server/src/remote_launch_service.py

launch the LTL planner

python gazebo_HMI_plugin.py

Get ready for the task (e.g., taking off, do system selection in HMI)

Input the LTL specification by voice or text

credit

The body of code in pyb_plan_utils.py comes from https://github.com/caelan/pybullet-planning.git.