MengGuo / Planner_LTL_ROS

ROS package for controlling FTS under LTL temporal tasks

Agent-Planner-LTL-ROS

ROS Interface for Temporal Task Planner

@article{guo2015multi,
  title={Multi-agent plan reconfiguration under local LTL specifications},
  author={Guo, Meng and Dimarogonas, Dimos V},
  journal={The International Journal of Robotics Research},
  volume={34},
  number={2},
  pages={218--235},
  year={2015},
  publisher={SAGE Publications Sage UK: London, England}
}

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Description

This package contains an example interface between the temporal planner P_MAS_TG and ROS. It serves as an on-line planner that receives motion and action confirmation from actuation modules and updates the next move for the robot.

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Features

• Fully support any feature included in the P_MAS_TG module.

• Easy integration with any motion capture system or low-level motion controller via ROS.

# publish to actuation modular for motion and action
activity_pub = rospy.Publisher('next_move_%s' %letter, activity, queue_size=10)

# subscribe to motion and action module for confirmation 
rospy.Subscriber('activity_done_%s' %letter, confirmation, confirm_callback)

# subscribe to sensory module for workspace model update
rospy.Subscriber('knowledge_%s' %letter, knowledge, knowledge_callback)

• Two-cemera locationization system based on ar_pose, see tf2pose_for_two.py for detials.

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Usage

• P_MAS_TG module. See details for how to build your own case there.
• catkin_make in your catkin_ws
• Check init.py for defining agent models.
• Run planner.py under ROS with the robot name as arugment.