https://github.com/robotlocomotion/robot-plan-runner
https://github.com/robotlocomotion/robot-plan-runner
Last synced: about 2 months ago
JSON representation
- Host: GitHub
- URL: https://github.com/robotlocomotion/robot-plan-runner
- Owner: RobotLocomotion
- Created: 2021-04-08T19:56:22.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2025-01-05T14:38:23.000Z (6 months ago)
- Last Synced: 2025-03-31T16:13:45.950Z (3 months ago)
- Language: C++
- Size: 394 KB
- Stars: 10
- Watchers: 7
- Forks: 4
- Open Issues: 18
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# Robot Plan Runner
---
This repo requires cppzmq which can be installed by running
```
cd robot-plan-runner
sudo ./scripts/install_cppzmq.sh
```
This repo uses the [CMake `find_package(drake)` mechanism](https://github.com/RobotLocomotion/drake-external-examples/tree/master/drake_cmake_installed) to find an
installed instance of Drake.
To include Drake path as a flag in CMake use `-DCMAKE_PREFIX_PATH`. For example,
```
cd robot-plan-runner
mkdir build && cd build
cmake -DCMAKE_PREFIX_PATH=/opt/drake ..
make -j4
```
To use lcm types defined within plan runner, add the python path:
`export PYTHONPATH={ROBOT_PLAN_RUNNER_DIR}/build/robot-plan-runner-lcmtypes:${PYTHONPATH}`
To use the client as an external module, add the python path:
`export PYTHONPATH={ROBOT_PLAN_RUNNER_DIR}/src:${PYTHONPATH}`
An incomplete design documentation can be found [here](https://slides.com/pang/deck-36762e).
## Continuous Integration
- CI is implemented by a custom Github Action that builds a docker image
using `./jammy.dockerfile` and runs the entrypoint script `.
/sciprts/buld_test.sh`.