Collab-Robotics

Group24: Conner Moore [email protected], Dhruv Vajpeyi [email protected], Shikun Cui [email protected]

Running the Python Planner

• Run the container

sudo docker run -it \
--env="DISPLAY"
--env="QT_X11_NO_MITSHM=1"
--env="GAZEBO_MODEL_PATH=/opt/warehouse_ws/src/amazon_robot_gazebo/models:/opt/warehouse_ws/src/aws-robomaker-small-warehouse-world/models"
--volume="/tmp/.X11-unix:/tmp/.X11-unix:rw"
jderobot/robotics-academy-ros2:amazon-warehouse-multi-robot /bin/bash

• Copy python planner to container: docker cp exercise/multi-robot.py :/opt/warehouse_ws/src/exercise/multi-robot.py
• Inside the container
  • Source workspace and start Nav2: . ./install/setup.sh
    ros2 launch amazon_robot_bringup aws_amazon_robot_multiple.py
  • Estimate pose for robots in RViz
  • python3 src/exercise/multi-robot.py

Running the Plansys planner

• docker cp plansys_multirobot :/opt/warehouse_ws/src/plansys_multirobot.
• Inside container install plansys: . /opt/warehouse_ws/src/plansys_multirobot/plansys.sh
• colcon build --symlink-install
• Bringup Nav2 simulation: ros2 launch amazon_robot_bringup aws_amazon_robot_multiple.py
• Bringup Plansys experts: ros2 launch plansys_multirobot plansys_multirobot_launch.py
• Run plansys terminal: ros2 run plansys_terminal plansys_terminal
• Copy txt from pddl/problem_single.txt into terminal
• get plan / run