planner_tests

This repostitory contains tests for the manipulation_planning_suite.

Installation

Dependencies

• yaml-cpp
• boost >= 1.58: system, filesystem
• Eigen3
• Qt4
• protobuf
• ompl (1.3.2)
• ROS Indigo Desktop, ROS Lunar Desktop, ROS Melodic (maybe others work as well)

Apart from ompl you should be able to install all dependencies from the standard Ubuntu repositories. For the installation of ompl, go to http://ompl.kavrakilab.org/download.html and then follow the instructions on http://ompl.kavrakilab.org/installation.html to build and install it from source.

Manipulation Planning Suite using Box2D

First, make sure your terminal session is initialized to work with ROS, i.e. run

  source /opt/ros/lunar/setup.bash

Adapt to zsh or other ROS version, if you use those.

Next, you need to create a catkin workspace:

  cd ~/YOUR_PROJECTS
  mkdir planning_catkin
  cd planning_catkin
  mkdir src
  cd src 
  catkin_init_workspace

Now you need to download our repos:

  git clone git@github.com:JoshuaHaustein/manipulation_planning_suite.git
  git clone git@github.com:JoshuaHaustein/planner_tests.git
  git clone git@github.com:JoshuaHaustein/sim_env.git
  git clone git@github.com:JoshuaHaustein/box2d_sim_env.git
  git clone https://github.com/JoshuaHaustein/box2d_catkin.git

If all dependencies are installed correctly, you should be able to build everything using:

  cd ~/YOUR_PROJECTS/planning_catkin
  catkin_make

Running the planner

If everything built successfully, you can run the planner using rosrun:

  source devel/setup.bash
  rosrun planner_tests box2d_push_planner --planning_problem src/planner_tests/data/box2d/planning_problems/simple_test_problem.yaml

The argument --planning_problem specifies which planning problem to use. There are a couple problems defined in 'src/planner_tests/data/box2d/planning_problems'. A planning problem specifies not only which world to plan in, but also some parameters such as which algorithm to use and parameters for it.

Alternatively, you can also only load an environment using

  rosrun planner_tests box2d_push_planner --environment src/planner_tests/data/box2d/worlds/free_world_1m_0s.yaml

Running and using the oracle training server

To train the oracle online, you can access the simulator through a Python interface. For this run the server:

  source devel/setup.bash
  rosrun planner_tests box2d_training_server --planning_problem src/planner_tests/data/box2d/planning_problems/training_problem.yaml

Next, open a new terminal (in your catkin workspace) and run:

  source devel/setup.bash
  ipython

Run the following to communicate with the server:

  import planner_tests.ros_oracle_bridge
  bridge = bridge = planner_tests.ros_oracle_bridge.ROSOracleBridge()

Check the member functions of the bridge to see what you can do with it.