Usage

Install through apt

Here we assume that the unified-planning package is already installed on your machine. Else, see below. Installation commands:

echo "deb [trusted=yes] https://raw.githubusercontent.com/aiplan4eu/UP4ROS2/jammy-rolling/ ./" | sudo tee /etc/apt/sources.list.d/aiplan4eu_UP4ROS2.list
echo "yaml https://raw.githubusercontent.com/aiplan4eu/UP4ROS2/jammy-rolling/local.yaml rolling" | sudo tee /etc/ros/rosdep/sources.list.d/1-aiplan4eu_UP4ROS2.list
sudo apt update
sudo apt install ros-noetic-up4ros2

Install from source

This package is a ROS package. It has been developed and tested against ROS 2 rolling. To use up4ros2, first install its dependencies (we suggest in a virtual environment):

(.venv) $ pip install unified-planning
(.venv) $ pip instal unified-planning[tamer]
(.venv) $ pip instal unified-planning[pyperplan]

At this point, you are ready to install the package in your ros2 workspace.

Launching and solving our first planning problem

To launch our freshly installed up4ros node, run the following command:

ros2 launch up4ros2 up4ros2.launch.py

At this point, the action servers and services are up and can be queried.