Merge pull request #126 from Bckempa/survey_optic_planner

Add OPTIC and trey planners and bug fix plansys2

.gitmodules

@@ -13,4 +13,7 @@
 	path = astrobee/survey_manager/survey_dependencies/popf
 	url = https://github.com/Bckempa/popf.git
 	branch = noetic-devel
-
+[submodule "optic_planner"]
+	path = astrobee/survey_manager/survey_dependencies/optic_planner
+	url = https://github.com/Bckempa/optic_planner.git
+	branch = noetic-devel

astrobee/survey_manager/survey_planner/CMakeLists.txt

@@ -95,7 +95,7 @@ install(TARGETS
   stereo_action_node
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-foreach( dir pddl launch data)
+foreach( dir params pddl launch data)
    install( DIRECTORY ${dir}/
          DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir} )
 endforeach(dir)

astrobee/survey_manager/survey_planner/launch/optic_survey.launch

@@ -0,0 +1,55 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- arguments -->
+  <arg name="model_file" default="$(find survey_planner)/pddl/domain_survey.pddl"/>
+  <arg name="namespace" default="" />
+  <arg name="params_file" default="$(find survey_planner)/params/plansys2_optic_params.yaml" />
+
+  <!-- true: There is a lifecycle management node for the Lifecycles nodes. If false, the nodes start on their own -->
+  <param name="lifecycle_enabled" value="true"/>
+
+  <!-- Domain Expert -->
+  <include file="$(find plansys2_domain_expert)/launch/domain_expert.launch">
+    <arg name="model_file"   value="$(arg model_file)"/>
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Problem Expert -->
+  <include file="$(find plansys2_problem_expert)/launch/problem_expert.launch">
+    <arg name="model_file"   value="$(arg model_file)"/>
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Planner -->
+  <include file="$(find plansys2_planner)/launch/planner.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Executor -->
+  <include file="$(find plansys2_executor)/launch/executor.launch">
+    <arg name="namespace"  value="$(arg namespace)"/>
+    <arg name="params_file" value="$(arg params_file)"/>
+  </include>
+
+  <!-- Manager -->
+  <node name="lifecycle_manager_node" pkg="plansys2_lifecycle_manager" type="lifecycle_manager_node" output="screen">
+  </node>
+
+  <!-- Actions -->
+  <node name="move_action_node" pkg="survey_planner" type="move_action_node" output="screen">
+  </node>
+  <node name="dock_action_node" pkg="survey_planner" type="dock_action_node" output="screen">
+  </node>
+  <node name="undock_action_node" pkg="survey_planner" type="undock_action_node" output="screen">
+  </node>
+  <node name="panorama_action_node" pkg="survey_planner" type="panorama_action_node" output="screen">
+  </node>
+  <node name="stereo_action_node" pkg="survey_planner" type="stereo_action_node" output="screen">
+  </node>
+
+</launch>
+

astrobee/survey_manager/survey_planner/launch/survey_domain.launch → astrobee/survey_manager/survey_planner/launch/trey_survey.launch

@@ -4,7 +4,7 @@
   <!-- arguments -->
   <arg name="model_file" default="$(find survey_planner)/pddl/domain_survey.pddl"/>
   <arg name="namespace" default="" />
-  <arg name="params_file" default="$(find plansys2_bringup)/params/plansys2_params.yaml" />
+  <arg name="params_file" default="$(find survey_planner)/params/plansys2_trey_params.yaml" />
 
   <!-- true: There is a lifecycle management node for the Lifecycles nodes. If false, the nodes start on their own -->
   <param name="lifecycle_enabled" value="true"/>

astrobee/survey_manager/survey_planner/params/plansys2_optic_params.yaml

@@ -0,0 +1,13 @@
+planner:
+
+    plan_solver_plugins: ["OPTIC"]
+    OPTIC:
+      plugin: "plansys2/OPTICPlanSolver"
+      arguments: "-N"
+    TREY:
+      plugin: "plansys2/OPTICPlanSolver"
+      command: "rosrun survey_planner plan_survey"
+    POPF:
+      plugin: "plansys2/POPFPlanSolver"
+    TFD:
+      plugin: "plansys2/TFDPlanSolver"

astrobee/survey_manager/survey_planner/params/plansys2_trey_params.yaml

@@ -0,0 +1,13 @@
+planner:
+
+    plan_solver_plugins: ["TREY"]
+    OPTIC:
+      plugin: "plansys2/OPTICPlanSolver"
+      arguments: "-N"
+    TREY:
+      plugin: "plansys2/OPTICPlanSolver"
+      command: "rosrun survey_planner plan_survey"
+    POPF:
+      plugin: "plansys2/POPFPlanSolver"
+    TFD:
+      plugin: "plansys2/TFDPlanSolver"