This repository contains the whole project "The Application of STRIPS Planning Using PDDL to a CRUMB Project Robot", being used for Master of Engineering capstone in AS4SR lab at University of Cincinnati.
The software was developed and tested in:
- Ubuntu 16.04 LTS
- ROS Kinetic
- Gazebo 7.12
To install the current version of this repository to your machine, cd into your catkin workspace source directory and clone the repository:
CRUMB Gazebo model:
git clone https://github.com/CRUMBproject/ROS.git
git clone https://github.com/vanadiumlabs/arbotix_ros.git
Some issues might happen while installing CRUMB Gazebo model and could be solved here: https://github.com/ermekaitygulov/gym-crumb
PDDL code:
git clone https://github.com/sharon50270/meng_crumb_proj.git
First scenario:
roslaunch meng_crumb_project crumb.launch
Second and third scenario:
roslaunch meng_crumb_project crumb_1.launch
cd script
First scenario:
rosrun meng_crumb_project turtlebot_wp_1.py
Second scenario:
rosrun meng_crumb_project turtlebot_wp_2.py
Third scenario:
rosrun meng_crumb_project turtlebot_wp_3.py
First scenario:
rosrun meng_crumb_project action_publisher_1.py
Second and third scenario:
rosrun meng_crumb_project action_publisher_2&3.py
roslaunch turtlebot_bringup minimal.lauch
http://learn.turtlebot.com/2015/02/01/9/
Setup up Arbotix on WidowX arm - https://github.com/RobotnikAutomation/widowx_arm
To make sure your account has permissions to access to /dev/ttyUSB0
sudo chmod a+rw /dev/ttyUSB0