Action Planner

asked 2018-01-25 09:35:18 -0500

Cerin gravatar image

Is there an action planning framework in ROS that supports large scale general action planning?

I'm trying to flesh out some simple action sequences for a small robot using actionlib and its SimpleActionServer and client, but I'm finding it's anything but simple or usable. Even for trivial actions, they require a complex server/client architecture along with large scripts that essentially are just glorified service calls. Even worse, the "action" message is requires doesn't let you chain actions together. It specifies a goal and results, but these aren't structured in a way that a STRIPS or PDDL planner could use to form more sophisticated plans, and there's nothing in the docs to suggest this was even a goal of actionlib.

Some of the motion-specific planners seem more geared for this, but they're almost exclusive for moving arms, and aren't general purpose planners.

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Comments

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and there's nothing in the docs to suggest this was even a goal of actionlib

exactly. So it seems like a strange thing to 'attack' actionlib on those aspects, as it was never designed for what you're trying to do.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:35:12 -0500 )edit
1

Can you update your question with what you've found yourself? Just to avoid people suggesting things you already considered.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:37:49 -0500 )edit
1

A quick google returns many results: downward, ROSPlan, task_compiler, etc.

gvdhoorn gravatar imagegvdhoorn ( 2018-01-25 10:38:18 -0500 )edit