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https://github.com/aiplan4eu/UP4ROS2

This repository contains a ROS 2 wrapper for the AIPlan4EU Unified Planning library available at https://github.com/aiplan4eu/unified-planning.
https://github.com/aiplan4eu/UP4ROS2

Last synced: about 2 months ago
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This repository contains a ROS 2 wrapper for the AIPlan4EU Unified Planning library available at https://github.com/aiplan4eu/unified-planning.

Host: GitHub
URL: https://github.com/aiplan4eu/UP4ROS2
Owner: aiplan4eu
Created: 2023-03-23T12:58:34.000Z (over 1 year ago)
Default Branch: master
Last Pushed: 2023-05-30T07:04:10.000Z (over 1 year ago)
Last Synced: 2024-04-21T00:53:25.628Z (5 months ago)
Language: Python
Homepage:
Size: 12.3 MB
Stars: 3
Watchers: 4
Forks: 0
Open Issues: 0
Metadata Files:
- Readme: README.md

Awesome Lists containing this project

awesome-ros-deliberation - UP4ROS2 - ROS 2 wrapper for the [AIPlan4EU Unified Planning library](https://github.com/aiplan4eu/unified-planning). (Packages)

README

        ![master](https://github.com/aiplan4eu/UP4ROS2/actions/workflows/master.yaml/badge.svg)

![devel](https://github.com/aiplan4eu/UP4ROS2/actions/workflows/devel.yaml/badge.svg)

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[![Documentation Status](https://readthedocs.org/projects/up4ros2/badge/?version=latest)](https://up4ros2.readthedocs.io/en/latest/)

# UP4ROS2

This repository contains a ROS 2 wrapper for the AIPlan4EU Unified Planning library available at https://github.com/aiplan4eu/unified-planning.

## Documentation

The documentation is available [here](https://up4ros2.readthedocs.io/en/latest/)

## Quick Overview

The **up4ros** node wraps the unified planning library.

  * It can be launched with: `ros2 launch up4ros2 up4ros2.launch.py`

  * Exposed services:

    * `/up4ros2/add_action` `[up_msgs/srv/AddAction]` 

    * `/up4ros2/add_fluent` `[up_msgs/srv/AddFluent]` 

    * `/up4ros2/add_goal` `[up_msgs/srv/AddGoal]` 

    * `/up4ros2/add_object` `[up_msgs/srv/AddObject]` 

    * `/up4ros2/new_problem` `[up_msgs/srv/NewProblem]` 

    * `/up4ros2/set_initial_value` `[up_msgs/srv/SetInitialValue]` 

    * `/up4ros2/set_problem` `[up_msgs/srv/SetProblem]`

  * Exposed actions:

    * `/up4ros2/planOneShotPDDL` `[up_msgs/action/PDDLPlanOneShot]` 

    * `/up4ros2/planOneShot` `[up_msgs/action/PlanOneShot]` 

    * `/up4ros2/planOneShotRemote` `[up_msgs/action/PlanOneShotRemote]` 

## Acknowledgments



This library is being developed for the AIPlan4EU H2020 project (https://aiplan4eu-project.eu) that is funded by the European Commission under grant agreement number 101016442.